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remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block on the table, closes fingers around the block, and adjusts finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the front-left white hexagonal block steadily on the dark table surface without observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block resting on the dark table surface, securing a stable grip."}, {"label": "goal", "start_step": 747, "end_step": 1094, "id": "147e4372-f509-4e50-8da1-2664bc968d06"}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position 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": 772, "end_step": 824, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden peg board, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 825, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowers the block to fit it onto the peg above the existing green block."}, {"label": "subtasks", "start_step": 922, "end_step": 1094, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds the green block with white top, aligns it with the purple peg on the wooden assembly base and fits it onto the peg."}, {"label": "goal", "start_step": 1095, "end_step": 1232, "id": "28152b89-a15b-4c77-95bd-fa6c7c130418"}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward from the assembly base towards the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the left white hexagonal block on the table, with slight finger movements to adjust contact points for grasping."}, {"label": "goal", "start_step": 1233, "end_step": 1571, "id": "f6011da5-8f24-4fdd-bc7a-f8afaaf37812"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical component off the table surface and transports it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1537, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the grasped white cylindrical component with the purple rod on the wooden base and lowers it to fit onto the rod, adjusting position slightly to complete the assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white cylindrical component on the purple rod without any observable movement of the hand or the component."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds white cylindrical caps, aligns and fits them onto the tops of the vertical purple posts on the wooden base to complete assembly."}, {"label": "goal", "start_step": 1572, "end_step": 1739, "id": "9cbe6cef-1a12-421e-a0b4-531f8389ab13"}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward empty from above the wooden base toward the white hexagonal nut placed on the table surface in front of the base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical object resting on the dark table surface near the wooden block assembly."}, {"label": "goal", "start_step": 1740, "end_step": 1979, "id": "d9b22de8-93a1-4f45-afb6-4d7157aa9aa1"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the dark table surface, moves it upward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the purple vertical rod on the wooden assembly, lowers the object to fit it onto the rod, makes small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1868, "end_step": 1979, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object seated on the purple vertical rod of the wooden assembly without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to seat it on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1980, "end_step": 2093, "id": "12e7b07b-9ed3-4501-b8e3-44acc7691ace"}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens fingers to release the seated white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without observable movement."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green block resting on the table."}, {"label": "goal", "start_step": 2094, "end_step": 2243, "id": "89df5df6-904b-4f46-bb55-81b1145151df"}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand moves the lifted green block upward and toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and slides the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, allowing the block to slide down the purple rod."}, {"label": "goal", "start_step": 2244, "end_step": 2369, "id": "99a5f13a-6c30-46d4-8898-e9090dc443d4"}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block to the purple peg on the wooden assembly board to complete the mating connection."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the mated green block, moves empty downwards toward the front white hexagonal block on the dark table surface without establishing contact with the block."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, closes fingers around the block and adjusts wrist and finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the dark table surface, closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 2370, "end_step": 2594, "id": "07773d88-cb31-4fb5-a825-d4935c4b3fa7"}, {"label": "subtasks", "start_step": 2408, "end_step": 2459, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward toward the wooden block assembly, positioning it above the purple vertical rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block slightly to fit it onto the rod to form the mated assembly."}, {"label": "subtasks", "start_step": 2505, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple vertical rod of the wooden assembly with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base, fingers opening to release the block."}, {"label": "goal", "start_step": 2595, "end_step": 2735, "id": "c3118c4a-39a0-4845-8591-6dbc50ed79a3"}, {"label": "subtasks", "start_step": 2625, "end_step": 2669, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "goal", "start_step": 2736, "end_step": 2930, "id": "1e5fe2eb-aba3-4778-a158-94606eeb0b34"}, {"label": "subtasks", "start_step": 2760, "end_step": 2774, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting table and wooden rack edge."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2901, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit the block onto the rod, making small positional adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 2902, "end_step": 2917, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: retreat: Right hand moves upward away from the assembled block on the purple rod, retreating from the immediate operation position."}, {"label": "subtasks", "start_step": 2925, "end_step": 2991, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the wooden block rack toward the small white hexagonal block on the table, staying empty as it approaches until it is positioned just above the target block without contact."}, {"label": "goal", "start_step": 2931, "end_step": 3062, "id": "3c8e1a07-b93a-4d2a-acc3-d05dde16c0e9"}, {"label": "subtasks", "start_step": 2992, "end_step": 3089, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers performing visible adjusting movements and closing around the block to establish a stable grip."}, {"label": "goal", "start_step": 3063, "end_step": 3245, "id": "6200fa79-9a67-4d6b-8217-b039b88bcc5d"}, {"label": "subtasks", "start_step": 3090, "end_step": 3134, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white object off the table surface and transports it upward toward the stacked blocks on the wooden tray."}, {"label": "subtasks", "start_step": 3135, "end_step": 3231, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the small white object with the purple vertical rod on the block stack and fits the object onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 3232, "end_step": 3269, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the assembled white object, separating the hand from the object."}, {"label": "goal", "start_step": 3246, "end_step": 3365, "id": "9432bbfc-01ee-4811-b1ed-ac505be93955"}, {"label": "subtasks", "start_step": 3270, "end_step": 3321, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves down and right toward the green square block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 3322, "end_step": 3359, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 3360, "end_step": 3389, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward from the dark table surface."}, {"label": "goal", "start_step": 3366, "end_step": 3554, "id": "d3b46a66-8fd5-4a1a-9a38-48440aec82d2"}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand transports the lifted green block upward and leftward toward the target white cylindrical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylindrical peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 3472, "end_step": 3539, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block stably on the white cylindrical peg without visible movement or adjustment."}, {"label": "subtasks", "start_step": 3540, "end_step": 3554, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to begin releasing the green block placed on the white cylindrical peg."}, {"label": "home", "start_step": 3596, "end_step": 3625, "id": "aYxFiIRlcDPEkyeaQmoVU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the left resting position with fingers slightly extended. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}, {"label": "subtasks", "start_step": 135, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block, adjusting finger contact points to form a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted green block horizontally toward the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 494, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, slides the block down along the peg, and makes small adjustments to position the block on the assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand positions the white cylindrical block onto the leftmost purple rod of the wooden rack until the block is stably supported, with fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden rack toward the front-left white hexagonal block on the dark table surface, with fingers open, approaching the target without contact."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block on the table, closes fingers around the block, and adjusts finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the front-left white hexagonal block steadily on the dark table surface without observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block resting on the dark table surface, securing a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position 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": 772, "end_step": 824, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden peg board, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 825, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowers the block to fit it onto the peg above the existing green block."}, {"label": "subtasks", "start_step": 922, "end_step": 1094, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds the green block with white top, aligns it with the purple peg on the wooden assembly base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward from the assembly base towards the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the left white hexagonal block on the table, with slight finger movements to adjust contact points for grasping."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical component off the table surface and transports it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1537, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the grasped white cylindrical component with the purple rod on the wooden base and lowers it to fit onto the rod, adjusting position slightly to complete the assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white cylindrical component on the purple rod without any observable movement of the hand or the component."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds white cylindrical caps, aligns and fits them onto the tops of the vertical purple posts on the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward empty from above the wooden base toward the white hexagonal nut placed on the table surface in front of the base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical object resting on the dark table surface near the wooden block assembly."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the dark table surface, moves it upward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the purple vertical rod on the wooden assembly, lowers the object to fit it onto the rod, makes small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1868, "end_step": 1979, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object seated on the purple vertical rod of the wooden assembly without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to seat it on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens fingers to release the seated white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without observable movement."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green block resting on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand moves the lifted green block upward and toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and slides the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, allowing the block to slide down the purple rod."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block to the purple peg on the wooden assembly board to complete the mating connection."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the mated green block, moves empty downwards toward the front white hexagonal block on the dark table surface without establishing contact with the block."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, closes fingers around the block and adjusts wrist and finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the dark table surface, closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2459, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward toward the wooden block assembly, positioning it above the purple vertical rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block slightly to fit it onto the rod to form the mated assembly."}, {"label": "subtasks", "start_step": 2505, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple vertical rod of the wooden assembly with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base, fingers opening to release the block."}, {"label": "subtasks", "start_step": 2625, "end_step": 2669, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "subtasks", "start_step": 2760, "end_step": 2774, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting table and wooden rack edge."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2901, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit the block onto the rod, making small positional adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 2902, "end_step": 2917, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: retreat: Right hand moves upward away from the assembled block on the purple rod, retreating from the immediate operation position."}, {"label": "subtasks", "start_step": 2925, "end_step": 2991, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the wooden block rack toward the small white hexagonal block on the table, staying empty as it approaches until it is positioned just above the target block without contact."}, {"label": "subtasks", "start_step": 2992, "end_step": 3089, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers performing visible adjusting movements and closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 3090, "end_step": 3134, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white object off the table surface and transports it upward toward the stacked blocks on the wooden tray."}, {"label": "subtasks", "start_step": 3135, "end_step": 3231, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the small white object with the purple vertical rod on the block stack and fits the object onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 3232, "end_step": 3269, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the assembled white object, separating the hand from the object."}, {"label": "subtasks", "start_step": 3270, "end_step": 3321, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves down and right toward the green square block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 3322, "end_step": 3359, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 3360, "end_step": 3389, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward from the dark table surface."}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand transports the lifted green block upward and leftward toward the target white cylindrical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylindrical peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 3472, "end_step": 3539, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block stably on the white cylindrical peg without visible movement or adjustment."}, {"label": "subtasks", "start_step": 3540, "end_step": 3554, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to begin releasing the green block placed on the white cylindrical peg."}], "episode_index": 0}
+{"source_uid": "623e520a9afac0af", "num_frames": 3516, "annotation_status": "loaded", "has_annotation": true, "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 raises upward from the left lower position to the left upper position. | Right hand: other:raise_hand: Right hand raises upward from the right lower position to the right upper position."}, {"label": "goal", "start_step": 0, "end_step": 198, "id": "d29a9c0e-5b0f-4f78-8140-0e3ef7a80522"}, {"label": "valid", "start_step": 0, "end_step": 3485, "id": "IcPSJ_o8uSQG_VnihyrFm"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: idle: Right hand remains empty at the right upper position without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 112, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 199, "end_step": 558, "id": "1b3dc297-0cd4-4108-820c-f43235729413"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost vertical peg of the pegboard."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block upward along the leftmost peg."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block downward along the leftmost peg."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the lower part of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 559, "end_step": 666, "id": "ec5b578b-2172-472d-a41a-1f1b3d0a4bdd"}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface with fingers closing and adjusting around it."}, {"label": "goal", "start_step": 667, "end_step": 1152, "id": "3b24fc3f-2331-4633-8cf6-08050e08ba0f"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the support."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board, stopping above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, aligning the block's hole with the peg and lowering the block onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 1153, "end_step": 1290, "id": "6287831a-10cd-4fa1-89f1-2a5be03ccf20"}, {"label": "subtasks", "start_step": 1162, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1291, "end_step": 1533, "id": "02ebcac8-46d8-472b-9db7-33394b4207c5"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and backward to the position above the rightmost purple rod of the block rack."}, {"label": "subtasks", "start_step": 1342, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward from the upper wooden rack area toward the white hexagonal block with a hole on the table, approaching the target block."}, {"label": "goal", "start_step": 1534, "end_step": 1671, "id": "390cf0e1-27b9-428d-be76-7abc10e1468d"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white perforated block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1672, "end_step": 1899, "id": "6a3b0a99-e6f8-4b54-af17-89805a5509a2"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white perforated block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white perforated block upward and toward the purple peg on the wooden board, stopping above the peg."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple peg below and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press: Right hand presses the white perforated block downward along the purple peg to compact its position."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white perforated block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1900, "end_step": 2004, "id": "74dc4373-e363-4c9e-ad6d-1da8975c696f"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the green block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2005, "end_step": 2181, "id": "e501712e-7065-467e-a9f6-e1ca36c2810c"}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the green cube upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cube upward and rightward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the green cube with the target peg by aligning the cube's hole and moving downward to fit the cube onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cube fitted on the peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple vertical peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 2182, "end_step": 2307, "id": "6e0cf4bf-d802-4ab5-a610-cc7058796f46"}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the upper working area."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting position to form a stable grip."}, {"label": "goal", "start_step": 2308, "end_step": 2529, "id": "4b9622aa-97c6-4106-b5ef-e76bd7531f47"}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and moves it upward to the position above the rack's peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white cubic block with the rack's vertical peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand gradually releases its grip on the white cubic block mounted on the peg."}, {"label": "goal", "start_step": 2530, "end_step": 2658, "id": "6a6d5cca-5e34-432b-9583-36ae84c2e798"}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper 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": "goal", "start_step": 2659, "end_step": 2850, "id": "00020272-ae26-4c86-84f9-79183484b532"}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack, moving it to the position above the purple rod."}, {"label": "subtasks", "start_step": 2738, "end_step": 2834, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod by opening fingers, then retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 2850, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal object on the table, without touching the object."}, {"label": "goal", "start_step": 2851, "end_step": 3006, "id": "d6c199bc-69f7-4808-8c08-7426dbcc8c78"}, {"label": "subtasks", "start_step": 2910, "end_step": 2947, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2948, "end_step": 2999, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper position 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": 3007, "end_step": 3144, "id": "b361aae4-8056-4482-b9fb-b7064ffa181a"}, {"label": "subtasks", "start_step": 3022, "end_step": 3067, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward and backward toward the rack with white cylinders."}, {"label": "subtasks", "start_step": 3068, "end_step": 3134, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal object with the target position on the rack, adjusting to align and fit it."}, {"label": "subtasks", "start_step": 3135, "end_step": 3157, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press_release: Right hand presses the purple rod down into the front-right bottle on the wooden base and releases its grip on the rod."}, {"label": "goal", "start_step": 3145, "end_step": 3249, "id": "77837630-d244-4e0a-a6a4-b99194b902cd"}, {"label": "subtasks", "start_step": 3158, "end_step": 3201, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves down-left towards the green cube on the workbench while keeping empty."}, {"label": "subtasks", "start_step": 3202, "end_step": 3269, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green cube on the workbench, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 3250, "end_step": 3447, "id": "25344a1f-ff2a-4079-b47c-aa41e930fa0b"}, {"label": "subtasks", "start_step": 3270, "end_step": 3307, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts and transports the green cube from the table upward and leftward to the top of the rightmost white bottle with a purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 3308, "end_step": 3449, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and presses it down to mate the cube onto the bottle."}, {"label": "home", "start_step": 3486, "end_step": 3515, "id": "xuV0tZFi1AEU6fMdYKrZc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand raises upward from the left lower position to the left upper position. | Right hand: other:raise_hand: Right hand raises upward from the right lower position to the right upper position."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: idle: Right hand remains empty at the right upper position without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 112, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost vertical peg of the pegboard."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block upward along the leftmost peg."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block downward along the leftmost peg."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the lower part of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the support."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board, stopping above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, aligning the block's hole with the peg and lowering the block onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1312, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and backward to the position above the rightmost purple rod of the block rack."}, {"label": "subtasks", "start_step": 1342, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward from the upper wooden rack area toward the white hexagonal block with a hole on the table, approaching the target block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white perforated block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white perforated block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white perforated block upward and toward the purple peg on the wooden board, stopping above the peg."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple peg below and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press: Right hand presses the white perforated block downward along the purple peg to compact its position."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white perforated block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the green block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper position 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": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the green cube upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cube upward and rightward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the green cube with the target peg by aligning the cube's hole and moving downward to fit the cube onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cube fitted on the peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple vertical peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the upper working area."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting position to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and moves it upward to the position above the rack's peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white cubic block with the rack's vertical peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand gradually releases its grip on the white cubic block mounted on the peg."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 2685, "end_step": 2699, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack, moving it to the position above the purple rod."}, {"label": "subtasks", "start_step": 2738, "end_step": 2834, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod by opening fingers, then retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 2850, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal object on the table, without touching the object."}, {"label": "subtasks", "start_step": 2910, "end_step": 2947, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2948, "end_step": 2999, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper position 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": 3022, "end_step": 3067, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward and backward toward the rack with white cylinders."}, {"label": "subtasks", "start_step": 3068, "end_step": 3134, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal object with the target position on the rack, adjusting to align and fit it."}, {"label": "subtasks", "start_step": 3135, "end_step": 3157, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press_release: Right hand presses the purple rod down into the front-right bottle on the wooden base and releases its grip on the rod."}, {"label": "subtasks", "start_step": 3158, "end_step": 3201, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves down-left towards the green cube on the workbench while keeping empty."}, {"label": "subtasks", "start_step": 3202, "end_step": 3269, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green cube on the workbench, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3270, "end_step": 3307, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts and transports the green cube from the table upward and leftward to the top of the rightmost white bottle with a purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 3308, "end_step": 3449, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and presses it down to mate the cube onto the bottle."}], "episode_index": 1}
+{"source_uid": "bc8b33168472cc51", "num_frames": 3733, "annotation_status": "loaded", "has_annotation": true, "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:move_upward: Left hand moves upward with empty palm. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "goal", "start_step": 0, "end_step": 183, "id": "e13cb23d-fb04-4991-9a82-c4a640938435"}, {"label": "valid", "start_step": 0, "end_step": 3702, "id": "3nXPKhHvc187wEe8bWiC3"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "subtasks", "start_step": 60, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and grasps the white block on the leftmost purple pillar, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 184, "end_step": 426, "id": "917c285a-e993-4657-8ee1-d46176150781"}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area 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": 285, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to fix its position."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers separating from the block."}, {"label": "goal", "start_step": 427, "end_step": 570, "id": "4bddcd50-7864-4836-a793-d27d9fade0d9"}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple pole of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 571, "end_step": 837, "id": "e75e86c3-cef5-4e46-88e4-725f08309eee"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 615, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 817, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 838, "end_step": 963, "id": "62c3af6e-350f-46c2-9178-ccd159c0a201"}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 964, "end_step": 1164, "id": "3e72bcf4-87e5-4a26-aff0-7b68fe18d0ad"}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1020, "end_step": 1154, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack, adjusting to fully fit it onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hollow cylinder on the black tabletop."}, {"label": "goal", "start_step": 1165, "end_step": 1299, "id": "5297b95b-d1a4-47d3-bfb4-261d5bf6850b"}, {"label": "subtasks", "start_step": 1230, "end_step": 1311, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder on the black tabletop, with slight grip adjustment."}, {"label": "goal", "start_step": 1300, "end_step": 1482, "id": "927f2a88-1001-4de9-a409-bc133d2edfab"}, {"label": "subtasks", "start_step": 1312, "end_step": 1371, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple post on the wooden base, pushing it down to fit."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple post without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1483, "end_step": 1599, "id": "8424258e-e113-4ef0-9e8f-9fd2e5704010"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1600, "end_step": 1779, "id": "89971134-61af-4688-9bd6-c20a28de2bb8"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1717, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple peg by aligning the block hole and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic block that has been fitted on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block assembly towards the green square block on the table."}, {"label": "goal", "start_step": 1780, "end_step": 1899, "id": "2bbfa739-944f-440d-a6eb-bc238daef3fb"}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1900, "end_step": 2088, "id": "74099d78-44d6-497c-a363-ea9cd3d69620"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 2089, "end_step": 2217, "id": "fbc8af7c-03e0-420e-bd8a-2363c5780391"}, {"label": "subtasks", "start_step": 2160, "end_step": 2241, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closing fingers to adjust and form a stable grip."}, {"label": "goal", "start_step": 2218, "end_step": 2391, "id": "40fd5b76-3e32-4631-99cd-751f59779fd7"}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2377, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the purple cylindrical object into the top of the white bottle on the wooden rack."}, {"label": "goal", "start_step": 2392, "end_step": 2496, "id": "d8d1c43a-c8f6-447a-973c-f176592fa299"}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2445, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal object and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "goal", "start_step": 2497, "end_step": 2808, "id": "e67764bb-280c-417b-bdbb-99d779b4155a"}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the white block towards the upper wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2804, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white block onto the empty peg of the wooden rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2864, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves empty towards the green cubic block placed on the table."}, {"label": "goal", "start_step": 2809, "end_step": 2931, "id": "63b181b7-7e40-43a5-b4cb-e84c742d5c1c"}, {"label": "subtasks", "start_step": 2865, "end_step": 2961, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 2932, "end_step": 3666, "id": "cf02a377-ea52-48ca-9309-64ffc1ebb704"}, {"label": "subtasks", "start_step": 2962, "end_step": 3014, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic object off the table and transports it to the position above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3015, "end_step": 3659, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic object with the protruding part of the white bottle, and makes repeated adjustments to insert the cube onto the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 3660, "end_step": 3674, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic object after it is properly fitted onto the white bottle."}, {"label": "home", "start_step": 3703, "end_step": 3732, "id": "Jde1C9Ff59kiIAZD3SRm1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward with empty palm. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "subtasks", "start_step": 60, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and grasps the white block on the leftmost purple pillar, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area 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": 285, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to fix its position."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers separating from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple pole of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 615, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 817, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 990, "end_step": 1019, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1020, "end_step": 1154, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack, adjusting to fully fit it onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hollow cylinder on the black tabletop."}, {"label": "subtasks", "start_step": 1230, "end_step": 1311, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder on the black tabletop, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1312, "end_step": 1371, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple post on the wooden base, pushing it down to fit."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple post without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1717, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple peg by aligning the block hole and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic block that has been fitted on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block assembly towards the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2241, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closing fingers to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2377, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the purple cylindrical object into the top of the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2445, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal object and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the white block towards the upper wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2804, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white block onto the empty peg of the wooden rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2864, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves empty towards the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 2865, "end_step": 2961, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2962, "end_step": 3014, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic object off the table and transports it to the position above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3015, "end_step": 3659, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic object with the protruding part of the white bottle, and makes repeated adjustments to insert the cube onto the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 3660, "end_step": 3674, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic object after it is properly fitted onto the white bottle."}], "episode_index": 2}
+{"source_uid": "b2a3a5f33465513b", "num_frames": 3267, "annotation_status": "loaded", "has_annotation": true, "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 on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block located to the left of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 255, "id": "2b3a7edd-f6b6-434f-8a76-6af742e1abd7"}, {"label": "valid", "start_step": 0, "end_step": 3236, "id": "YATTj66XvaPABBQtVApUo"}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers and makes small positional adjustments to establish a stable grip on the target green hexagonal block on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the grasped green hexagonal block steadily with no visible hand movement, finger adjustment or object displacement."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward off the dark table surface."}, {"label": "goal", "start_step": 256, "end_step": 486, "id": "b80ef879-0d5c-4f70-8520-f05f5025c769"}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 308, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the corresponding wooden peg on the assembly board, until the block is stably supported by the peg."}, {"label": "goal", "start_step": 487, "end_step": 612, "id": "86a1145b-8f01-49e0-b8da-70d4b3e02d7f"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward away from the assembly board, approaching the white hexagonal block placed on the front table surface with empty hand."}, {"label": "subtasks", "start_step": 548, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to form a stable grasp on the block, with the block remaining on the table surface."}, {"label": "goal", "start_step": 613, "end_step": 816, "id": "666903c2-ec17-4f10-af0d-42c0e93b2272"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position directly above the vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reorient: Right hand slightly rotates the grasped white hexagonal block to align its central hole with the vertical rod below, with minimal position change."}, {"label": "subtasks", "start_step": 690, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary above the vertical rod without observable movement of the hand, wrist or block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand moves the white hexagonal block downward along the vertical rod to nest it onto the green block fixed on the rod, completing the fitting action."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block to rest on the green block of the left wooden peg, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 817, "end_step": 942, "id": "590e20f6-3934-489e-a8af-5a7d2e9d082c"}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the white hexagonal block located on the front section of the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand contacts the front white hexagonal block, gradually closing fingers and adjusting wrist and finger positions to form a secure grasp on the block."}, {"label": "goal", "start_step": 943, "end_step": 1128, "id": "7b5df5e4-a13e-46c0-bff6-24bf953b9428"}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves the block upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden rack, fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and slightly left from its initial position above the stacked blocks on the wooden base, approaching the small white cylindrical object in front of the base with fingers open."}, {"label": "goal", "start_step": 1129, "end_step": 1251, "id": "150d07a2-504d-4530-b7f0-d7c3c4e55c8a"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the small white cylindrical object in front of the wooden base, making small positional adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the small white cylindrical object in front of the wooden base steadily, with no visible movement of the hand or the object."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical block placed near the wooden base."}, {"label": "goal", "start_step": 1252, "end_step": 1425, "id": "b13e9e41-8a93-4d99-8b33-fcfaa0cdd80a"}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to separate it from the supporting surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand moves the grasped white cylindrical block horizontally to position it directly above the target purple vertical rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical block with the purple vertical rod, then lowers the block to fit it onto the rod to complete assembly, with small adjustments of wrist and fingers to maintain alignment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white cylindrical block, gradually separating from the block surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the region adjacent to the wooden block assembly toward the green hexagonal block with an upright white peg resting on the dark table surface, staying empty as it approaches the target block."}, {"label": "goal", "start_step": 1426, "end_step": 1527, "id": "3462be3f-0d32-405c-9da8-e47da67c6929"}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block with an upright white peg, making small finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "goal", "start_step": 1528, "end_step": 1668, "id": "6c104877-411a-4a78-a668-b80f6c020ef0"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated 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 fit securely onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple vertical rod."}, {"label": "goal", "start_step": 1669, "end_step": 1770, "id": "d95a63c5-4d10-49df-8630-3b836c42f96a"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the white hexagonal objects on the black table surface, staying empty before contacting the target object."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut near the green block on the table, adjusting finger and wrist positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp_lift: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface and lifts the nut upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 1771, "end_step": 2115, "id": "a6ab9c3e-c6db-4fb8-937a-5303dced6ba2"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 2114, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, adjusts the nut's position and orientation, and fits the nut down onto the rod to nest with the existing parts on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the white-capped bottle placed on the wooden tray, separating from the bottle surface."}, {"label": "goal", "start_step": 2116, "end_step": 2241, "id": "cf1fb567-5e80-4419-bc95-993b725d4933"}, {"label": "subtasks", "start_step": 2130, "end_step": 2189, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block positioned near the front-right of the wooden tray."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts it upward until the block is completely off the table."}, {"label": "goal", "start_step": 2242, "end_step": 2628, "id": "6a79d196-e508-43f5-a14d-a226d8a2d331"}, {"label": "subtasks", "start_step": 2258, "end_step": 2309, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal block to move upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2624, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple rod, lowers the block to fit around the rod and makes slight adjustments until the block is stably seated on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, separating the hand from the block."}, {"label": "goal", "start_step": 2629, "end_step": 2739, "id": "76d2190a-ac95-41d5-96a6-6bc4cad941ad"}, {"label": "subtasks", "start_step": 2640, "end_step": 2691, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and toward the white hexagonal object placed on the dark table surface, approaching the object without making contact."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table, making small grip adjustments while the object remains resting on the table surface."}, {"label": "goal", "start_step": 2740, "end_step": 2919, "id": "79e77084-7285-45a9-b1fa-c3306e483c54"}, {"label": "subtasks", "start_step": 2752, "end_step": 2804, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white annular object off the table surface, moving the object upward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2805, "end_step": 2909, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white annular object with the purple rod, lowering the object to fit onto the rod with small positional adjustments."}, {"label": "subtasks", "start_step": 2910, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves from the area above the wooden bottle tray down towards the green holed block on the right side of the table, with fingers slightly extended."}, {"label": "goal", "start_step": 2920, "end_step": 3036, "id": "b93f62c6-e79e-4875-b8b8-12cce840fddf"}, {"label": "subtasks", "start_step": 2978, "end_step": 3029, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the table to establish a grasp, with fingers moving slightly to make contact with the block surface."}, {"label": "subtasks", "start_step": 3030, "end_step": 3059, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the green cubic block upward from the dark table surface while maintaining a firm grip on the block."}, {"label": "goal", "start_step": 3037, "end_step": 3222, "id": "20961aee-978e-409a-8acf-81790959b46e"}, {"label": "subtasks", "start_step": 3060, "end_step": 3119, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden rack holding stacked white cylinders at the top-right of the workspace."}, {"label": "subtasks", "start_step": 3120, "end_step": 3194, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand lowers the green cubic block downward to place it onto the top of the white cylinder with a purple cap on the rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3209, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating the hand from the block resting on the cylinder."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: retreat: Right hand retreats away from the rack area with an empty hand after completing the placement."}, {"label": "home", "start_step": 3237, "end_step": 3266, "id": "ATT-c_QoC24IgPrD_z0rv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block located to the left of the wooden peg base."}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers and makes small positional adjustments to establish a stable grip on the target green hexagonal block on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the grasped green hexagonal block steadily with no visible hand movement, finger adjustment or object displacement."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward 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 on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 308, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the corresponding wooden peg on the assembly board, until the block is stably supported by the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward away from the assembly board, approaching the white hexagonal block placed on the front table surface with empty hand."}, {"label": "subtasks", "start_step": 548, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to form a stable grasp on the block, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position directly above the vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reorient: Right hand slightly rotates the grasped white hexagonal block to align its central hole with the vertical rod below, with minimal position change."}, {"label": "subtasks", "start_step": 690, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary above the vertical rod without observable movement of the hand, wrist or block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand moves the white hexagonal block downward along the vertical rod to nest it onto the green block fixed on the rod, completing the fitting action."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block to rest on the green block of the left wooden peg, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the white hexagonal block located on the front section of the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand contacts the front white hexagonal block, gradually closing fingers and adjusting wrist and finger positions to form a secure grasp on the block."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves the block upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden rack, fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and slightly left from its initial position above the stacked blocks on the wooden base, approaching the small white cylindrical object in front of the base with fingers open."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the small white cylindrical object in front of the wooden base, making small positional adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the small white cylindrical object in front of the wooden base steadily, with no visible movement of the hand or the object."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical block placed near the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to separate it from the supporting surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand moves the grasped white cylindrical block horizontally to position it directly above the target purple vertical rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical block with the purple vertical rod, then lowers the block to fit it onto the rod to complete assembly, with small adjustments of wrist and fingers to maintain alignment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white cylindrical block, gradually separating from the block surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the region adjacent to the wooden block assembly toward the green hexagonal block with an upright white peg resting on the dark table surface, staying empty as it approaches the target block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block with an upright white peg, making small finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated 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 fit securely onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple vertical rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the white hexagonal objects on the black table surface, staying empty before contacting the target object."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut near the green block on the table, adjusting finger and wrist positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp_lift: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface and lifts the nut upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 2114, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, adjusts the nut's position and orientation, and fits the nut down onto the rod to nest with the existing parts on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the white-capped bottle placed on the wooden tray, separating from the bottle surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2189, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block positioned near the front-right of the wooden tray."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts it upward until the block is completely off the table."}, {"label": "subtasks", "start_step": 2258, "end_step": 2309, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal block to move upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2624, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple rod, lowers the block to fit around the rod and makes slight adjustments until the block is stably seated on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, separating the hand from the block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2691, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and toward the white hexagonal object placed on the dark table surface, approaching the object without making contact."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table, making small grip adjustments while the object remains resting on the table surface."}, {"label": "subtasks", "start_step": 2752, "end_step": 2804, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white annular object off the table surface, moving the object upward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2805, "end_step": 2909, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white annular object with the purple rod, lowering the object to fit onto the rod with small positional adjustments."}, {"label": "subtasks", "start_step": 2910, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves from the area above the wooden bottle tray down towards the green holed block on the right side of the table, with fingers slightly extended."}, {"label": "subtasks", "start_step": 2978, "end_step": 3029, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the table to establish a grasp, with fingers moving slightly to make contact with the block surface."}, {"label": "subtasks", "start_step": 3030, "end_step": 3059, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the green cubic block upward from the dark table surface while maintaining a firm grip on the block."}, {"label": "subtasks", "start_step": 3060, "end_step": 3119, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden rack holding stacked white cylinders at the top-right of the workspace."}, {"label": "subtasks", "start_step": 3120, "end_step": 3194, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand lowers the green cubic block downward to place it onto the top of the white cylinder with a purple cap on the rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3209, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating the hand from the block resting on the cylinder."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: retreat: Right hand retreats away from the rack area with an empty hand after completing the placement."}], "episode_index": 3}
+{"source_uid": "40ab1dab5ae7b5cd", "num_frames": 4278, "annotation_status": "loaded", "has_annotation": true, "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 table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green block on the table to the left of the wooden rack, keeping empty and not touching any object."}, {"label": "goal", "start_step": 0, "end_step": 198, "id": "726190e4-f372-41d6-8308-45838bae3d69"}, {"label": "valid", "start_step": 0, "end_step": 4243, "id": "NFMp-tfTGVdJH-Yr3IIl6"}, {"label": "subtasks", "start_step": 128, "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 closes fingers around the green block on the table and makes slight adjustments to stabilize the 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: hold: Right hand holds the green block on the table without any observable movement."}, {"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 dark table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 199, "end_step": 369, "id": "90a20d33-b0a1-41b0-b6a0-3470f21525d5"}, {"label": "subtasks", "start_step": 218, "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: lift: Right hand lifts the green cubic block upward from the table surface until it is fully in the air."}, {"label": "subtasks", "start_step": 232, "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: transport: Right hand transports the green cubic block upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 248, "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: mate: Right hand aligns the green cubic block with the middle purple peg and moves it downward to fit the block onto the peg."}, {"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: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green square block onto the bottom wooden board of the left purple vertical rod and releases the block."}, {"label": "goal", "start_step": 370, "end_step": 471, "id": "9042ddf5-44b7-4a5f-88c1-73f5633d5d3b"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "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 and forward from the pegboard area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "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 closing."}, {"label": "subtasks", "start_step": 458, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "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, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 472, "end_step": 651, "id": "e8d25e3a-d91a-41c5-99ec-8ff298840068"}, {"label": "subtasks", "start_step": 488, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it rightward and upward to the area above the purple pegs on the wooden board."}, {"label": "subtasks", "start_step": 510, "end_step": 621, "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 a purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 645, "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: retreat: Right hand moves slightly upward away from the white hexagonal block while empty."}, {"label": "goal", "start_step": 652, "end_step": 753, "id": "a49fdba1-6597-413c-9afb-500ae5bf98b5"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "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 purple vertical rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 754, "end_step": 927, "id": "077e8c52-fe6b-4518-bf07-23c27d0579fc"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "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 black table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "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 peg by aligning the central hole with the peg and lowering the block downwards."}, {"label": "subtasks", "start_step": 832, "end_step": 914, "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 purple peg without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 928, "end_step": 1074, "id": "d90f61ab-d32e-4d61-90e5-7d6b6f4dc22c"}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "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 cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1075, "end_step": 1353, "id": "b3975d7b-76be-4701-80b9-d28a59c513a2"}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "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 hollow cylindrical object off the table and transports it upward and rightward to the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1155, "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: mate: Right hand aligns the white hollow cylindrical object with the purple vertical rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1342, "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 hollow cylindrical object fitted on the purple rod, with fingers opening and separating from the object."}, {"label": "goal", "start_step": 1354, "end_step": 1500, "id": "e8746bbd-ec0f-4817-b3a8-777a88fc89b1"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1410, "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 grasps the green hexagonal block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "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: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1704, "id": "5287070e-aad3-4e92-aae7-19a2d7938832"}, {"label": "subtasks", "start_step": 1515, "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: lift_transport: Right hand lifts and transports the green cubic block towards the purple rod on the wooden base."}, {"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: mate: Right hand aligns the green cubic block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00036", "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 purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1694, "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 green cubic block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1695, "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: release: Right hand releases the green hexagonal block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1705, "end_step": 1848, "id": "a7d3d301-4268-4fbe-b72c-6b8c614b0eca"}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "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 table in front of the green block."}, {"label": "subtasks", "start_step": 1778, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 1849, "end_step": 2049, "id": "76829b69-e45c-4eeb-a2e2-9187a78a00f9"}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the black table and transports it upward and leftward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the target peg on the wooden rack, lowering the cylinder to fit onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the wooden rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "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: reach: Right hand moves downward from the area near the stacked blocks on the table to approach the white cylindrical object below the stacked blocks."}, {"label": "goal", "start_step": 2050, "end_step": 2178, "id": "a0a6b4d0-a034-448f-b25b-82680d03f024"}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "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 touches the white cylindrical object on the table and closes its fingers to grasp the object."}, {"label": "goal", "start_step": 2179, "end_step": 2424, "id": "4194fed4-72e2-471b-9a42-c1060ab213e9"}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "id": "reasoning-language-00046", "text": "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 until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00047", "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 and leftward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and moves it downward to fit the block onto the rod."}, {"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 table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}, {"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 table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the wooden base toward the white hollow block on the black table."}, {"label": "goal", "start_step": 2425, "end_step": 2595, "id": "573e0dbd-c5c7-4c9b-8c8d-ba64c650327f"}, {"label": "subtasks", "start_step": 2475, "end_step": 2609, "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 its fingers to establish a grasp on the white hollow block on the table surface."}, {"label": "goal", "start_step": 2596, "end_step": 3327, "id": "1a8608b1-6300-4614-8d68-129948d5e7b7"}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "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 white hollow cylinder up from the table and transports it left-upward toward the purple rod on the middle wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "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 white hollow cylinder with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00054", "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 hollow cylinder downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2722, "end_step": 3277, "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 hollow cylinder steadily on the purple rod without moving."}, {"label": "subtasks", "start_step": 3278, "end_step": 3299, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating from the cylinder."}, {"label": "subtasks", "start_step": 3300, "end_step": 3314, "id": "reasoning-language-00057", "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 purple rod after releasing the cylinder."}, {"label": "subtasks", "start_step": 3315, "end_step": 3389, "id": "reasoning-language-00058", "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 and leftward to the green cubic block on the table, closing its fingers to grasp the block upon contact."}, {"label": "goal", "start_step": 3328, "end_step": 3444, "id": "0beeb4a6-b8d0-4fb7-a057-c7df7c8d3b7f"}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "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 green cubic block on the table without observable movement."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 3445, "end_step": 4218, "id": "ec271174-99a4-4507-892d-379f4c7c532e"}, {"label": "subtasks", "start_step": 3472, "end_step": 3494, "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 upward from the black table until the block is fully off the supporting surface."}, {"label": "subtasks", "start_step": 3495, "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: transport: Right hand transports the green block upward and leftward to the position above the rightmost vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 3585, "end_step": 4177, "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 mates the green block with the rightmost vertical rod, aligning the central hole with the rod and adjusting the block's vertical position along the rod repeatedly."}, {"label": "subtasks", "start_step": 4178, "end_step": 4229, "id": "reasoning-language-00064", "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 by opening its fingers, then retreats upward from the operation position."}, {"label": "home", "start_step": 4244, "end_step": 4277, "id": "sRPZtCOQAPx8R5baH_1JV"}], "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 table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green block on the table to the left of the wooden rack, keeping empty and not touching any object."}, {"label": "subtasks", "start_step": 128, "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 closes fingers around the green block on the table and makes slight adjustments to stabilize the 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: hold: Right hand holds the green block on the table without any observable movement."}, {"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 dark table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 218, "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: lift: Right hand lifts the green cubic block upward from the table surface until it is fully in the air."}, {"label": "subtasks", "start_step": 232, "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: transport: Right hand transports the green cubic block upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 248, "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: mate: Right hand aligns the green cubic block with the middle purple peg and moves it downward to fit the block onto the peg."}, {"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: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green square block onto the bottom wooden board of the left purple vertical rod and releases the block."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "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 and forward from the pegboard area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "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 closing."}, {"label": "subtasks", "start_step": 458, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "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, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 488, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it rightward and upward to the area above the purple pegs on the wooden board."}, {"label": "subtasks", "start_step": 510, "end_step": 621, "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 a purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 645, "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: retreat: Right hand moves slightly upward away from the white hexagonal block while empty."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "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 purple vertical rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "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 black table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "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 peg by aligning the central hole with the peg and lowering the block downwards."}, {"label": "subtasks", "start_step": 832, "end_step": 914, "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 purple peg without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "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 cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "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 hollow cylindrical object off the table and transports it upward and rightward to the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1155, "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: mate: Right hand aligns the white hollow cylindrical object with the purple vertical rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1342, "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 hollow cylindrical object fitted on the purple rod, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1410, "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 grasps the green hexagonal block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "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: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1515, "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: lift_transport: Right hand lifts and transports the green cubic block towards the purple rod on the wooden base."}, {"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: mate: Right hand aligns the green cubic block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00036", "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 purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1694, "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 green cubic block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1695, "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: release: Right hand releases the green hexagonal block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "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 table in front of the green block."}, {"label": "subtasks", "start_step": 1778, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the black table and transports it upward and leftward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the target peg on the wooden rack, lowering the cylinder to fit onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the wooden rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "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: reach: Right hand moves downward from the area near the stacked blocks on the table to approach the white cylindrical object below the stacked blocks."}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "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 touches the white cylindrical object on the table and closes its fingers to grasp the object."}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "id": "reasoning-language-00046", "text": "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 until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00047", "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 and leftward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and moves it downward to fit the block onto the rod."}, {"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 table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}, {"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 table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the wooden base toward the white hollow block on the black table."}, {"label": "subtasks", "start_step": 2475, "end_step": 2609, "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 its fingers to establish a grasp on the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "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 white hollow cylinder up from the table and transports it left-upward toward the purple rod on the middle wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "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 white hollow cylinder with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00054", "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 hollow cylinder downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2722, "end_step": 3277, "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 hollow cylinder steadily on the purple rod without moving."}, {"label": "subtasks", "start_step": 3278, "end_step": 3299, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating from the cylinder."}, {"label": "subtasks", "start_step": 3300, "end_step": 3314, "id": "reasoning-language-00057", "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 purple rod after releasing the cylinder."}, {"label": "subtasks", "start_step": 3315, "end_step": 3389, "id": "reasoning-language-00058", "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 and leftward to the green cubic block on the table, closing its fingers to grasp the block upon contact."}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "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 green cubic block on the table without observable movement."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3472, "end_step": 3494, "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 upward from the black table until the block is fully off the supporting surface."}, {"label": "subtasks", "start_step": 3495, "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: transport: Right hand transports the green block upward and leftward to the position above the rightmost vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 3585, "end_step": 4177, "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 mates the green block with the rightmost vertical rod, aligning the central hole with the rod and adjusting the block's vertical position along the rod repeatedly."}, {"label": "subtasks", "start_step": 4178, "end_step": 4229, "id": "reasoning-language-00064", "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 by opening its fingers, then retreats upward from the operation position."}], "episode_index": 4}
+{"source_uid": "23dcde824ab93bd0", "num_frames": 4378, "annotation_status": "loaded", "has_annotation": true, "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 any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty at its initial right-side position in the workspace, with no active movement toward the central table objects."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "fe9e0f03-5f2a-4ef7-a768-6da14f870440"}, {"label": "valid", "start_step": 0, "end_step": 4347, "id": "c072r9CDHdSX9iPpyK_8J"}, {"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 without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block resting on the table in front of the wooden block assembly, holding fingers open as it approaches without touching the block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes its fingers around the block to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block that stays resting on the table, with no observable movement of the hand, fingers, or the block during this period."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grip on the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 187, "end_step": 390, "id": "9af0980b-2d06-47d1-86a5-7e15d3c4d050"}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, moves the block upward and toward the wooden pegboard to position it above a purple vertical peg."}, {"label": "subtasks", "start_step": 270, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moves the block downward to slide it onto the peg until the block rests stably on the wooden pegboard surface."}, {"label": "subtasks", "start_step": 382, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard to approach the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 391, "end_step": 528, "id": "504b10a5-c0c6-447a-8d70-bc50bd1896e9"}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes slight finger and wrist adjustments around the white hexagonal block, closing fingers to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without any visible movement of the hand or the block."}, {"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 active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts its fingers and wrist to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "goal", "start_step": 529, "end_step": 720, "id": "6dd26f02-3e96-4210-b0c8-cf243f229dee"}, {"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 without any active movement toward or contact with objects throughout the segment. | 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 post on the wooden assembly base."}, {"label": "subtasks", "start_step": 570, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple post, and moves it downward to fit onto the post until it rests on the green block below."}, {"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 workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white topped block, aligns and fits it onto the corresponding purple post on the wooden assembly base, opens fingers to release the assembled block."}, {"label": "goal", "start_step": 721, "end_step": 825, "id": "a7e753aa-f165-4f40-a18c-27245f6cd21a"}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the dark table surface, with fingers slightly open, not yet contacting the block."}, {"label": "subtasks", "start_step": 765, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts wrist position and finger contact points, and gradually closes fingers to establish a stable grip on the block."}, {"label": "goal", "start_step": 826, "end_step": 978, "id": "20e73073-5837-4e05-a01d-3c7c9fdb3be2"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 878, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the two parts."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the wooden peg on the light wooden base, presses it down to fit onto the peg and releases the block."}, {"label": "goal", "start_step": 979, "end_step": 1092, "id": "ba2f45e9-e4ce-45a5-8423-7c02a74f0c60"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block near the wooden base on the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close and adjust position to form a grip on the block."}, {"label": "goal", "start_step": 1093, "end_step": 1236, "id": "855243d2-2bfa-4360-a4cf-ba82aee72e29"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit it onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1237, "end_step": 1317, "id": "8866b0f3-df22-4c6e-a43f-90a8e3e967ae"}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grip."}, {"label": "goal", "start_step": 1318, "end_step": 1482, "id": "940e0072-03d3-46c2-b3b6-c38c4299a28f"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the upper area near the wooden block assembly, approaching the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1483, "end_step": 1584, "id": "3689ed39-8384-4c81-8b71-7c336cc57b5a"}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close around the block and make slight positional adjustments to establish a firm grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1585, "end_step": 1797, "id": "b753e863-27c3-4da1-8b08-8ea83742b153"}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves from the area above the wooden block stand toward the white hexagonal block near the stand on the table, with fingers open, approaching the target block."}, {"label": "goal", "start_step": 1798, "end_step": 2396, "id": "500053bb-1d0c-409a-9820-3df0bc2daab4"}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block while the block remains on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1980, "end_step": 2211, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning the block's hole with the purple rod to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2287, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal block away from the purple rod, moving rightward and downward back toward the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface until the block is supported by the table, then opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty above the placed white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger position around the white hexagonal block resting on the dark table surface to form a stable grasp."}, {"label": "goal", "start_step": 2397, "end_step": 2579, "id": "cef8f212-3128-430d-8fff-da2c68fc2631"}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and leftward through the air to position it above the vertical purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the vertical purple rod, lowers the block to fit it onto the rod, and establishes the assembled connection between the block and rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2571, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any movement of the hand or block."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper right area toward the white hexagonal block placed on the dark table surface, with fingers slightly spread as it approaches the target."}, {"label": "goal", "start_step": 2580, "end_step": 2789, "id": "fac7ae77-19e0-48aa-a761-ea4bfed9a387"}, {"label": "subtasks", "start_step": 2618, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, adjusts finger closure and wrist angle to secure the grip, making slight rotational and positional adjustments to the block during the grasping process."}, {"label": "subtasks", "start_step": 2730, "end_step": 2789, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand maintains a stable grasp on the white hexagonal block resting on the table, with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 2790, "end_step": 2975, "id": "ad7f2792-8a3b-4e8c-b98c-53abd6e008dd"}, {"label": "subtasks", "start_step": 2812, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward toward the wooden block rack holding stacked white and green blocks."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg, with no visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block, separating fully from the block surface by the end of the segment."}, {"label": "subtasks", "start_step": 2970, "end_step": 2977, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: retreat: Right hand moves backward away from the white hexagonal block positioned on the rack."}, {"label": "goal", "start_step": 2976, "end_step": 4004, "id": "6b8059ea-2e9c-488d-9343-83f28b27bc7f"}, {"label": "subtasks", "start_step": 2978, "end_step": 3021, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper-right area near the wooden tray toward the green cube placed on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 3022, "end_step": 3097, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube, and adjusts finger positions to form a stable grip while the cube remains resting on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3111, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the securely grasped green cube upward, raising the cube completely off the dark table surface."}, {"label": "subtasks", "start_step": 3112, "end_step": 3164, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cube upward and leftward, moving the cube to a position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3165, "end_step": 3764, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green cube steadily above the purple-capped bottle on the wooden tray, with no visible movement of the hand, fingers, or the grasped cube."}, {"label": "subtasks", "start_step": 3765, "end_step": 3831, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green cube away from the area above the purple-capped bottle, moving the cube downward and rightward back toward the dark table surface."}, {"label": "subtasks", "start_step": 3832, "end_step": 3899, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green cube onto the dark table surface until the cube is fully supported by the table, then opens fingers to release the cube and separate from its surface."}, {"label": "subtasks", "start_step": 3900, "end_step": 3981, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty and stationary directly above the placed green cube on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 3982, "end_step": 4004, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand moves fingers downward to make contact with the top of the green cube, closing fingers around the cube to initiate a new grip."}, {"label": "subtasks", "start_step": 4005, "end_step": 4019, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block resting on the black table surface and lifts it upward until the block is fully separated from the table."}, {"label": "goal", "start_step": 4005, "end_step": 4325, "id": "f5014e7d-3db0-44bf-a1ae-669e24a8ca71"}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block to move upward and leftward toward the area above the wooden block rack."}, {"label": "subtasks", "start_step": 4072, "end_step": 4161, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reorient: Right hand slightly rotates the green hexagonal block to adjust its posture while keeping roughly the same position above the purple cylindrical object for alignment."}, {"label": "subtasks", "start_step": 4162, "end_step": 4214, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block to move rightward to the position above the rightmost white cylindrical block on the wooden rack."}, {"label": "subtasks", "start_step": 4215, "end_step": 4289, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block steadily above the rightmost white cylindrical block without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 4290, "end_step": 4334, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block downward to place it on the top surface of the rightmost white cylindrical block, then opens the fingers to release the block."}, {"label": "home", "start_step": 4348, "end_step": 4377, "id": "ZnR2HGFQt_sLyZrzlgs1q"}], "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 any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty at its initial right-side position in the workspace, with no active movement toward the central table objects."}, {"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 without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block resting on the table in front of the wooden block assembly, holding fingers open as it approaches without touching the block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes its fingers around the block to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block that stays resting on the table, with no observable movement of the hand, fingers, or the block during this period."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grip on the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, moves the block upward and toward the wooden pegboard to position it above a purple vertical peg."}, {"label": "subtasks", "start_step": 270, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moves the block downward to slide it onto the peg until the block rests stably on the wooden pegboard surface."}, {"label": "subtasks", "start_step": 382, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard to approach the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes slight finger and wrist adjustments around the white hexagonal block, closing fingers to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without any visible movement of the hand or the block."}, {"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 active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts its fingers and wrist to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"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 without any active movement toward or contact with objects throughout the segment. | 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 post on the wooden assembly base."}, {"label": "subtasks", "start_step": 570, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple post, and moves it downward to fit onto the post until it rests on the green block below."}, {"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 workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white topped block, aligns and fits it onto the corresponding purple post on the wooden assembly base, opens fingers to release the assembled block."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the dark table surface, with fingers slightly open, not yet contacting the block."}, {"label": "subtasks", "start_step": 765, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts wrist position and finger contact points, and gradually closes fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 878, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the two parts."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the wooden peg on the light wooden base, presses it down to fit onto the peg and releases the block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block near the wooden base on the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close and adjust position to form a grip on the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit it onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the upper area near the wooden block assembly, approaching the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close around the block and make slight positional adjustments to establish a firm grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves from the area above the wooden block stand toward the white hexagonal block near the stand on the table, with fingers open, approaching the target block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block while the block remains on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1980, "end_step": 2211, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning the block's hole with the purple rod to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2287, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal block away from the purple rod, moving rightward and downward back toward the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface until the block is supported by the table, then opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty above the placed white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger position around the white hexagonal block resting on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and leftward through the air to position it above the vertical purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the vertical purple rod, lowers the block to fit it onto the rod, and establishes the assembled connection between the block and rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2571, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any movement of the hand or block."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper right area toward the white hexagonal block placed on the dark table surface, with fingers slightly spread as it approaches the target."}, {"label": "subtasks", "start_step": 2618, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, adjusts finger closure and wrist angle to secure the grip, making slight rotational and positional adjustments to the block during the grasping process."}, {"label": "subtasks", "start_step": 2730, "end_step": 2789, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand maintains a stable grasp on the white hexagonal block resting on the table, with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2812, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward toward the wooden block rack holding stacked white and green blocks."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg, with no visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block, separating fully from the block surface by the end of the segment."}, {"label": "subtasks", "start_step": 2970, "end_step": 2977, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: retreat: Right hand moves backward away from the white hexagonal block positioned on the rack."}, {"label": "subtasks", "start_step": 2978, "end_step": 3021, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper-right area near the wooden tray toward the green cube placed on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 3022, "end_step": 3097, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube, and adjusts finger positions to form a stable grip while the cube remains resting on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3111, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the securely grasped green cube upward, raising the cube completely off the dark table surface."}, {"label": "subtasks", "start_step": 3112, "end_step": 3164, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cube upward and leftward, moving the cube to a position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3165, "end_step": 3764, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green cube steadily above the purple-capped bottle on the wooden tray, with no visible movement of the hand, fingers, or the grasped cube."}, {"label": "subtasks", "start_step": 3765, "end_step": 3831, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green cube away from the area above the purple-capped bottle, moving the cube downward and rightward back toward the dark table surface."}, {"label": "subtasks", "start_step": 3832, "end_step": 3899, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green cube onto the dark table surface until the cube is fully supported by the table, then opens fingers to release the cube and separate from its surface."}, {"label": "subtasks", "start_step": 3900, "end_step": 3981, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty and stationary directly above the placed green cube on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 3982, "end_step": 4004, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand moves fingers downward to make contact with the top of the green cube, closing fingers around the cube to initiate a new grip."}, {"label": "subtasks", "start_step": 4005, "end_step": 4019, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block resting on the black table surface and lifts it upward until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block to move upward and leftward toward the area above the wooden block rack."}, {"label": "subtasks", "start_step": 4072, "end_step": 4161, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reorient: Right hand slightly rotates the green hexagonal block to adjust its posture while keeping roughly the same position above the purple cylindrical object for alignment."}, {"label": "subtasks", "start_step": 4162, "end_step": 4214, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block to move rightward to the position above the rightmost white cylindrical block on the wooden rack."}, {"label": "subtasks", "start_step": 4215, "end_step": 4289, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block steadily above the rightmost white cylindrical block without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 4290, "end_step": 4334, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block downward to place it on the top surface of the rightmost white cylindrical block, then opens the fingers to release the block."}], "episode_index": 5}
+{"source_uid": "33ef90cf5e9990e0", "num_frames": 2764, "annotation_status": "loaded", "has_annotation": true, "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 leftward and downward toward the green hexagonal block at the left front of the wooden peg base, with wrist rotating slightly to adjust orientation and fingers keeping slightly open, approaching the target."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "50f26a60-bbbd-45cc-81b1-e029fffc2668"}, {"label": "valid", "start_step": 0, "end_step": 2733, "id": "NZ55fdToTGy7nAdc2KbwZ"}, {"label": "subtasks", "start_step": 112, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting slightly to establish a stable grip."}, {"label": "goal", "start_step": 205, "end_step": 375, "id": "26590ac3-f6eb-43a3-998f-607afec777e0"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 248, "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: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down along the leftmost peg until the block is stably supported."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"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 table without moving. | Right hand: reach: Right hand moves down and left from the upper wooden rack area, approaching the white hexagonal block on the table."}, {"label": "goal", "start_step": 376, "end_step": 489, "id": "3569aec0-86ad-4008-8109-fc95ebac2466"}, {"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 table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: 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": 480, "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 490, "end_step": 657, "id": "8fbc06af-97fd-4797-8047-33a9b24d5aa7"}, {"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 block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}, {"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 aligns the central hole of the white hexagonal block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 548, "end_step": 644, "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 slides the white hexagonal block down along the leftmost purple peg until it rests on the green base block."}, {"label": "subtasks", "start_step": 645, "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_release: Right hand fits the white holed block onto the leftmost green block's peg and releases the grip."}, {"label": "goal", "start_step": 658, "end_step": 753, "id": "772c010d-39e9-4923-9be5-b1b670acbab4"}, {"label": "subtasks", "start_step": 668, "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: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 698, "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: Right hand grasps the white hexagonal block on the left side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 754, "end_step": 1053, "id": "b2982a85-d5c1-4cfe-a818-73bdb3df15de"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "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 table surface and transports it upward and rightward toward the pegboard."}, {"label": "subtasks", "start_step": 802, "end_step": 891, "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 top of the leftmost purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 892, "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: hold: Right hand holds the white hexagonal part on the leftmost purple peg without moving."}, {"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: press_release: Right hand presses down the white cylindrical block on the rightmost purple peg of the wooden base and releases it quickly."}, {"label": "goal", "start_step": 1054, "end_step": 1179, "id": "b5a867d5-89ec-442e-9cf5-e15dad8c5030"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "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 and leftwards towards the white hexagonal block with a central hole on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1199, "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, with slight downward adjustment to stabilize the grip."}, {"label": "goal", "start_step": 1180, "end_step": 1323, "id": "72f7e641-4a26-4582-9a48-ef019a712881"}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while transporting it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical peg on the wooden base and releases the part."}, {"label": "goal", "start_step": 1324, "end_step": 1416, "id": "858e4866-9791-4668-bd2b-f08adf196f27"}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the green hollow square block on the dark table surface and grasps it with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "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 cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1417, "end_step": 1590, "id": "01b54d92-5b9d-44ce-8961-ac24723c4d75"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "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 cubic block off the table and transports it upward and rightward to the top of the target purple peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block with the target purple peg by inserting it downward and releases the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "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 ring on the top of the purple vertical rod, with fingers opening and separating from the ring."}, {"label": "goal", "start_step": 1591, "end_step": 1680, "id": "60445518-ea1f-4719-95b4-0e91fa6c8683"}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white holed hexagonal object on the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "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 holed hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1681, "end_step": 1866, "id": "a3a99158-c9a2-49a5-9133-f7c6bebaad35"}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "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 hollow cylinder from the table surface and transports it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the green post on the wooden rack and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on top of the green block stack at the center-top area of the table."}, {"label": "goal", "start_step": 1867, "end_step": 1962, "id": "e3ad98e9-c6c5-41df-8815-eba90a6ecda4"}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward and rightward away from the center-top block stack."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1963, "end_step": 2142, "id": "3310dcf9-94fc-4b49-a82a-4d249b1c83a6"}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00040", "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 toward the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "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 aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the rightmost white block of the rack downward."}, {"label": "goal", "start_step": 2143, "end_step": 2244, "id": "fb8ab218-8284-41a7-8557-6ae03e2bbe03"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "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 left toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "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 table without moving."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "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 cubic block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2245, "end_step": 2442, "id": "03d33bd9-211c-43d9-9536-66199a068d1c"}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "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 cubic block from the black table and transports it to the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2429, "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 cubic block with the purple rod on the wooden rack, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray downward."}, {"label": "goal", "start_step": 2443, "end_step": 2532, "id": "99642ed5-3177-41f9-8604-addcfde48c45"}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "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 reaches toward the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2533, "end_step": 2697, "id": "f18c4bc6-e2cf-49a2-b15c-2d4f75e22a0c"}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "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 cubic block from the table surface and transports it toward the wooden rack with white cylindrical bottles."}, {"label": "subtasks", "start_step": 2588, "end_step": 2677, "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 cubic block with the rightmost white bottle on the wooden rack and mates it onto the bottle by moving downward until the block is supported."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "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 cubic block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2734, "end_step": 2763, "id": "UB1rmiy5sZj_0xOlaz7pm"}], "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 leftward and downward toward the green hexagonal block at the left front of the wooden peg base, with wrist rotating slightly to adjust orientation and fingers keeping slightly open, approaching the target."}, {"label": "subtasks", "start_step": 112, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 248, "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: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down along the leftmost peg until the block is stably supported."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"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 table without moving. | Right hand: reach: Right hand moves down and left from the upper wooden rack area, approaching the white hexagonal block on the table."}, {"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 table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: 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": 480, "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 black table surface, with fingers adjusting to form a stable grip."}, {"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 block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}, {"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 aligns the central hole of the white hexagonal block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 548, "end_step": 644, "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 slides the white hexagonal block down along the leftmost purple peg until it rests on the green base block."}, {"label": "subtasks", "start_step": 645, "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_release: Right hand fits the white holed block onto the leftmost green block's peg and releases the grip."}, {"label": "subtasks", "start_step": 668, "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: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 698, "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: Right hand grasps the white hexagonal block on the left side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "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 table surface and transports it upward and rightward toward the pegboard."}, {"label": "subtasks", "start_step": 802, "end_step": 891, "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 top of the leftmost purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 892, "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: hold: Right hand holds the white hexagonal part on the leftmost purple peg without moving."}, {"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: press_release: Right hand presses down the white cylindrical block on the rightmost purple peg of the wooden base and releases it quickly."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "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 and leftwards towards the white hexagonal block with a central hole on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1199, "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, with slight downward adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while transporting it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical peg on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the green hollow square block on the dark table surface and grasps it with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "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 cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "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 cubic block off the table and transports it upward and rightward to the top of the target purple peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block with the target purple peg by inserting it downward and releases the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "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 ring on the top of the purple vertical rod, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white holed hexagonal object on the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "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 holed hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "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 hollow cylinder from the table surface and transports it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the green post on the wooden rack and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on top of the green block stack at the center-top area of the table."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward and rightward away from the center-top block stack."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00040", "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 toward the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "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 aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the rightmost white block of the rack downward."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "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 left toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "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 table without moving."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "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 cubic block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "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 cubic block from the black table and transports it to the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2429, "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 cubic block with the purple rod on the wooden rack, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray downward."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "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 reaches toward the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "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 cubic block from the table surface and transports it toward the wooden rack with white cylindrical bottles."}, {"label": "subtasks", "start_step": 2588, "end_step": 2677, "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 cubic block with the rightmost white bottle on the wooden rack and mates it onto the bottle by moving downward until the block is supported."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "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 cubic block, with fingers opening and separating from the block."}], "episode_index": 6}
+{"source_uid": "7f578e1ba0b16f91", "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": 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 toward the leftmost white hexagonal block on the wooden base, without contacting the object."}, {"label": "goal", "start_step": 0, "end_step": 177, "id": "1a7bb7db-68a1-4e05-9523-192c8b03d9ab"}, {"label": "valid", "start_step": 0, "end_step": 3371, "id": "_QsmPmVuGzK4aEOYDsrDQ"}, {"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 fingers to grasp the leftmost white hexagonal block on the wooden base, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, moving it away from the supporting wooden base."}, {"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 table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "goal", "start_step": 178, "end_step": 348, "id": "81fb9768-a7cc-415b-a741-f1574ffbbfc5"}, {"label": "subtasks", "start_step": 195, "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 purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the purple peg."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "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 reaches the wooden base."}, {"label": "subtasks", "start_step": 338, "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: release: Right hand releases the green block and moves slightly upward."}, {"label": "subtasks", "start_step": 345, "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_release: Right hand places the green hexagonal block onto the purple pillar on the wooden base and releases the block."}, {"label": "goal", "start_step": 349, "end_step": 516, "id": "309b3ba0-224e-4a56-9fda-ba8064d1feaf"}, {"label": "subtasks", "start_step": 360, "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: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 412, "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 approaches the white hexagonal block, fingers close and adjust to establish stable grasp on the block."}, {"label": "goal", "start_step": 517, "end_step": 729, "id": "5a27888b-a24e-4752-aac5-88d2f12b35b7"}, {"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 grasped white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 555, "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: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the central hole of the block with the top of the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 660, "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: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 787, "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 wooden peg board toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 730, "end_step": 849, "id": "d8c2f847-03d5-4193-913c-8bc14d5118f2"}, {"label": "subtasks", "start_step": 788, "end_step": 869, "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 contacts the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 850, "end_step": 1008, "id": "32faf625-6de5-4fbb-8c71-cb3d6698c6bf"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 892, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder near the wooden rack on the desktop."}, {"label": "goal", "start_step": 1009, "end_step": 1122, "id": "5931fef4-85ff-4fe8-82b1-6678b3371b7e"}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "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 touches the white hexagonal cylinder and adjusts fingers to form a stable grasp on it."}, {"label": "goal", "start_step": 1123, "end_step": 1302, "id": "1263265f-c143-4c95-b37d-f50ec36b82d3"}, {"label": "subtasks", "start_step": 1140, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple vertical rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "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 block rack towards the green cubic block on the black tabletop, not contacting the block yet."}, {"label": "goal", "start_step": 1303, "end_step": 1407, "id": "45cf30e0-5d7e-4149-bc56-d56368e0de69"}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "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 cubic block on the tabletop, fingers adjust to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1408, "end_step": 1563, "id": "671d4242-df59-4ee6-8347-b77514cef203"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "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 cube off the tabletop and transports it to the area above the wooden post rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "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 cube with the target post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1485, "end_step": 1551, "id": "reasoning-language-00029", "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 cube down along the post to fix it in position."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "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 cube and slightly moves away from the rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "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 towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1564, "end_step": 1680, "id": "5a5422ac-b2d8-436d-a9b2-8cfc63a9edc7"}, {"label": "subtasks", "start_step": 1612, "end_step": 1701, "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 touches the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1681, "end_step": 2322, "id": "63e9b8dc-dab7-4104-8a1b-29cb4ee062e2"}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "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 hollow cylinder from the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 2107, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 2108, "end_step": 2309, "id": "reasoning-language-00035", "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 hollow cylinder down along the purple peg to adjust its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "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 hexagonal block onto the vacant position of the wooden tray."}, {"label": "goal", "start_step": 2323, "end_step": 2487, "id": "6d24aa74-a706-4399-96b0-1bba0e09f7fd"}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "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 hexagonal block placed on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2407, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table near the green square block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2497, "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 touches the white hexagonal block on the table, closes fingers to form and adjust the grasp on the block."}, {"label": "goal", "start_step": 2488, "end_step": 2646, "id": "3ac25820-6b13-4e22-b783-39d03545d749"}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "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 hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 2647, "end_step": 2742, "id": "ae1fe1b6-0375-4446-b8eb-dfec576d2d8b"}, {"label": "subtasks", "start_step": 2655, "end_step": 2684, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2685, "end_step": 2767, "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 adjusts fingers to grasp the white hexagonal object on the table."}, {"label": "goal", "start_step": 2743, "end_step": 3054, "id": "9959de33-63ea-4499-8c95-cbf4882e113c"}, {"label": "subtasks", "start_step": 2768, "end_step": 2804, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the wooden rack with multiple blocks."}, {"label": "subtasks", "start_step": 2805, "end_step": 2887, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 3044, "id": "reasoning-language-00048", "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 block down along the purple rod to secure it, then releases the block."}, {"label": "subtasks", "start_step": 3045, "end_step": 3081, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple part on the white bottle fixed on the wooden rack."}, {"label": "goal", "start_step": 3055, "end_step": 3183, "id": "58dfe534-e283-4730-b467-5a3512db4cea"}, {"label": "subtasks", "start_step": 3082, "end_step": 3141, "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 table."}, {"label": "subtasks", "start_step": 3142, "end_step": 3201, "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 table surface."}, {"label": "goal", "start_step": 3184, "end_step": 3342, "id": "f7399657-cba2-4476-b23e-568792e2b1bb"}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "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 off the tabletop and transports it to the position above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3240, "end_step": 3307, "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 top of the target white bottle and inserts the block onto the bottle."}, {"label": "subtasks", "start_step": 3308, "end_step": 3344, "id": "reasoning-language-00054", "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 bottle to secure it in place."}, {"label": "home", "start_step": 3372, "end_step": 3402, "id": "LvwuK0O1jtfIt5TQpFPw9"}], "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 toward the leftmost white hexagonal block on the wooden base, without contacting the object."}, {"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 fingers to grasp the leftmost white hexagonal block on the wooden base, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, moving it away from the supporting wooden base."}, {"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 table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 195, "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 purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the purple peg."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "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 reaches the wooden base."}, {"label": "subtasks", "start_step": 338, "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: release: Right hand releases the green block and moves slightly upward."}, {"label": "subtasks", "start_step": 345, "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_release: Right hand places the green hexagonal block onto the purple pillar on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 360, "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: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 412, "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 approaches the white hexagonal block, fingers close and adjust to establish stable grasp on the block."}, {"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 grasped white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 555, "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: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the central hole of the block with the top of the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 660, "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: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 787, "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 wooden peg board toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "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 contacts the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 892, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder near the wooden rack on the desktop."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "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 touches the white hexagonal cylinder and adjusts fingers to form a stable grasp on it."}, {"label": "subtasks", "start_step": 1140, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple vertical rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "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 block rack towards the green cubic block on the black tabletop, not contacting the block yet."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "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 cubic block on the tabletop, fingers adjust to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "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 cube off the tabletop and transports it to the area above the wooden post rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "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 cube with the target post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1485, "end_step": 1551, "id": "reasoning-language-00029", "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 cube down along the post to fix it in position."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "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 cube and slightly moves away from the rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "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 towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1612, "end_step": 1701, "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 touches the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "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 hollow cylinder from the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 2107, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 2108, "end_step": 2309, "id": "reasoning-language-00035", "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 hollow cylinder down along the purple peg to adjust its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "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 hexagonal block onto the vacant position of the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "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 hexagonal block placed on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2407, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table near the green square block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2497, "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 touches the white hexagonal block on the table, closes fingers to form and adjust the grasp on the block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "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 hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2655, "end_step": 2684, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2685, "end_step": 2767, "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 adjusts fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2768, "end_step": 2804, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the wooden rack with multiple blocks."}, {"label": "subtasks", "start_step": 2805, "end_step": 2887, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 3044, "id": "reasoning-language-00048", "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 block down along the purple rod to secure it, then releases the block."}, {"label": "subtasks", "start_step": 3045, "end_step": 3081, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple part on the white bottle fixed on the wooden rack."}, {"label": "subtasks", "start_step": 3082, "end_step": 3141, "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 table."}, {"label": "subtasks", "start_step": 3142, "end_step": 3201, "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 table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "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 off the tabletop and transports it to the position above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3240, "end_step": 3307, "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 top of the target white bottle and inserts the block onto the bottle."}, {"label": "subtasks", "start_step": 3308, "end_step": 3344, "id": "reasoning-language-00054", "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 bottle to secure it in place."}], "episode_index": 7}
+{"source_uid": "9d4e97605f4653c5", "num_frames": 3509, "annotation_status": "loaded", "has_annotation": true, "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 moving throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious translational movement."}, {"label": "goal", "start_step": 0, "end_step": 210, "id": "fb647039-54b3-4399-ae64-7f77698d2234"}, {"label": "valid", "start_step": 0, "end_step": 3477, "id": "D8Hfp66HJfNm_OWJ07dlY"}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty leftward toward the green hexagonal nut adjacent to the wooden peg base on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers and makes small contact adjustments to establish grip on the green hexagonal nut adjacent to the wooden peg base."}, {"label": "goal", "start_step": 211, "end_step": 360, "id": "efdd125b-f415-430f-a21f-da4ddec3a031"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the firmly gripped green block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the lifted green block upward toward the purple vertical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green block seated on the purple peg without any observable movement of the hand, fingers or block."}, {"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 without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block resting on the purple peg."}, {"label": "goal", "start_step": 361, "end_step": 453, "id": "1f4d7893-e75c-4e88-96de-04c447408d33"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the front white hexagonal block on the table, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers gradually close and make small positional adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 454, "end_step": 615, "id": "33eca41f-a07c-4be7-b50a-36900f5bae44"}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the held white hexagonal nut, keeping its position roughly unchanged above the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod and lowers it slightly to fit the rod into the hole, establishing the mating connection."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until the nut rests stably on the green base block beneath the rod, fully supported by the base."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating the hand completely from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden block assembly toward the loose white hexagonal block on the black table surface, with fingers extended during the approach."}, {"label": "goal", "start_step": 616, "end_step": 720, "id": "5e767271-c820-48d9-af52-902e5b877699"}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip, with the block remaining in contact with the table surface."}, {"label": "goal", "start_step": 721, "end_step": 903, "id": "0f004f0a-b545-48d8-8380-19e358999b26"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut backward to the position directly above a purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 765, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then slides the nut down the peg until it rests on the lower nut."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is stably supported by the purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: press: Right hand presses vertically downward on the top white hexagonal block on the leftmost purple post of the wooden stand to seat the block fully in place."}, {"label": "goal", "start_step": 904, "end_step": 1014, "id": "802bb7b2-c0ad-4483-af8d-e672f12f51a5"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block resting on the table surface in front of the wooden stand, with fingers held in an open posture."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grip, while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table without any visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions to stabilize grasp on the white hexagonal cylinder resting on the table near the wooden rack."}, {"label": "goal", "start_step": 1015, "end_step": 1218, "id": "47e4e1f6-e10a-4a34-a5a2-5debb99298ff"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder toward the area directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and lowers it to fit snugly onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal cylinder onto the purple post."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves away from the assembled post as an empty hand in a retreating motion."}, {"label": "goal", "start_step": 1219, "end_step": 1293, "id": "ac48787e-9fa6-4709-af06-d427c5141a30"}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the dark table surface, fingers held in a slightly spread posture before contacting the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and making small positional adjustments to form a grip on the block which remains resting on the table."}, {"label": "goal", "start_step": 1294, "end_step": 1539, "id": "a042e0c4-b7a3-42c4-bc44-e929560b6df5"}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, and transports it upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1350, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple peg of the wooden assembly base, separating from the block."}, {"label": "goal", "start_step": 1540, "end_step": 1728, "id": "4445c427-4372-4da8-9176-17152d2e37aa"}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without moving, with no visible change in hand shape or object position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal cylinder resting on the black table surface."}, {"label": "goal", "start_step": 1729, "end_step": 1896, "id": "f128cef6-86b8-4293-b49c-e43f16100561"}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal cylinder through the air toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, moves the cylinder downward to fit onto the rod, and adjusts its position during assembly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block placed on the table near the wooden block tray, with fingers held slightly open."}, {"label": "goal", "start_step": 1897, "end_step": 2004, "id": "432e106b-11e2-4fa6-86c3-0b38822f1858"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the tray, adjusting finger contact to establish a grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, then lifts the block upward until it is completely off the table."}, {"label": "goal", "start_step": 2005, "end_step": 2499, "id": "287e22f4-073d-4c31-b719-721ad109a670"}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple vertical rod on the wooden base, moving the block to the position directly above the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, then lowers the block to fit it onto the rod until it rests stably on the stacked block below."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty slightly upward, retreating from the position of the assembled white block on the purple rod."}, {"label": "goal", "start_step": 2500, "end_step": 2652, "id": "2fca7326-7c70-4e08-af16-6d134b5bfc1d"}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the green block, with fingers slightly spread, and does not touch the block yet."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closes fingers gradually and makes small adjustments to form a stable grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the black table steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block resting on the black table surface beside the green block, closing fingers to establish a stable grip while the block remains on the table."}, {"label": "goal", "start_step": 2653, "end_step": 3060, "id": "21acb6e3-fcff-416c-8a09-f0dff2abadc4"}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the black table surface and carries it upward toward the wooden block rack, positioning the block directly above the vertical purple rod atop the stacked blocks."}, {"label": "subtasks", "start_step": 2730, "end_step": 3007, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the vertical purple rod, making small positional and rotational adjustments to fit the block onto the rod while lowering it toward the supporting block below."}, {"label": "subtasks", "start_step": 3008, "end_step": 3021, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block to rest fully on the supporting block on the rack, opening its fingers to release grip on the now-stationary block."}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty away from the stacked blocks on the wooden rack, retracting toward the right side of the workspace."}, {"label": "subtasks", "start_step": 3060, "end_step": 3111, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green holed cubic block on the table with fingers slightly spread."}, {"label": "goal", "start_step": 3061, "end_step": 3171, "id": "dc849a2c-da9a-46f7-a1e4-6e0f9695b0c8"}, {"label": "subtasks", "start_step": 3112, "end_step": 3187, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed cubic block on the table, adjusting finger contact positions to form a grip."}, {"label": "goal", "start_step": 3172, "end_step": 3438, "id": "cfe474f1-3c04-47fd-8bef-39ad20575d9e"}, {"label": "subtasks", "start_step": 3188, "end_step": 3201, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the green block vertically upward, separating the block completely from the black table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted green block upward and toward the top of the stacked cylinders on the wooden base."}, {"label": "subtasks", "start_step": 3240, "end_step": 3434, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the hole of the green block with the top of the target purple-topped cylinder, adjusting wrist and finger positions slightly to fit the block onto the cylinder."}, {"label": "subtasks", "start_step": 3435, "end_step": 3449, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, beginning to separate from the block now seated on the cylinder."}, {"label": "home", "start_step": 3478, "end_step": 3508, "id": "ILd7z7J5PhxowifFyMKJW"}], "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 moving throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious translational movement."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty leftward toward the green hexagonal nut adjacent to the wooden peg base on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers and makes small contact adjustments to establish grip on the green hexagonal nut adjacent to the wooden peg base."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the firmly gripped green block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the lifted green block upward toward the purple vertical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green block seated on the purple peg without any observable movement of the hand, fingers or block."}, {"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 without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block resting on the purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the front white hexagonal block on the table, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers gradually close and make small positional adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the held white hexagonal nut, keeping its position roughly unchanged above the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod and lowers it slightly to fit the rod into the hole, establishing the mating connection."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until the nut rests stably on the green base block beneath the rod, fully supported by the base."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating the hand completely from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden block assembly toward the loose white hexagonal block on the black table surface, with fingers extended during the approach."}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip, with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut backward to the position directly above a purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 765, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then slides the nut down the peg until it rests on the lower nut."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is stably supported by the purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: press: Right hand presses vertically downward on the top white hexagonal block on the leftmost purple post of the wooden stand to seat the block fully in place."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block resting on the table surface in front of the wooden stand, with fingers held in an open posture."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grip, while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table without any visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions to stabilize grasp on the white hexagonal cylinder resting on the table near the wooden rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder toward the area directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and lowers it to fit snugly onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal cylinder onto the purple post."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves away from the assembled post as an empty hand in a retreating motion."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the dark table surface, fingers held in a slightly spread posture before contacting the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and making small positional adjustments to form a grip on the block which remains resting on the table."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, and transports it upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1350, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple peg of the wooden assembly base, separating from the block."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without moving, with no visible change in hand shape or object position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal cylinder resting on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal cylinder through the air toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, moves the cylinder downward to fit onto the rod, and adjusts its position during assembly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block placed on the table near the wooden block tray, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the tray, adjusting finger contact to establish a grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, then lifts the block upward until it is completely off the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple vertical rod on the wooden base, moving the block to the position directly above the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, then lowers the block to fit it onto the rod until it rests stably on the stacked block below."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty slightly upward, retreating from the position of the assembled white block on the purple rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the green block, with fingers slightly spread, and does not touch the block yet."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closes fingers gradually and makes small adjustments to form a stable grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the black table steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block resting on the black table surface beside the green block, closing fingers to establish a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the black table surface and carries it upward toward the wooden block rack, positioning the block directly above the vertical purple rod atop the stacked blocks."}, {"label": "subtasks", "start_step": 2730, "end_step": 3007, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the vertical purple rod, making small positional and rotational adjustments to fit the block onto the rod while lowering it toward the supporting block below."}, {"label": "subtasks", "start_step": 3008, "end_step": 3021, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block to rest fully on the supporting block on the rack, opening its fingers to release grip on the now-stationary block."}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty away from the stacked blocks on the wooden rack, retracting toward the right side of the workspace."}, {"label": "subtasks", "start_step": 3060, "end_step": 3111, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green holed cubic block on the table with fingers slightly spread."}, {"label": "subtasks", "start_step": 3112, "end_step": 3187, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed cubic block on the table, adjusting finger contact positions to form a grip."}, {"label": "subtasks", "start_step": 3188, "end_step": 3201, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the green block vertically upward, separating the block completely from the black table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted green block upward and toward the top of the stacked cylinders on the wooden base."}, {"label": "subtasks", "start_step": 3240, "end_step": 3434, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the hole of the green block with the top of the target purple-topped cylinder, adjusting wrist and finger positions slightly to fit the block onto the cylinder."}, {"label": "subtasks", "start_step": 3435, "end_step": 3449, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, beginning to separate from the block now seated on the cylinder."}], "episode_index": 8}
+{"source_uid": "e97326ad7683b7e9", "num_frames": 4315, "annotation_status": "loaded", "has_annotation": true, "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 with no observable movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface in front of the wooden peg rack, with the wrist rotating about 90 degrees downward to face the fingers toward the block."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "1d959ac7-cfed-4be1-b59f-cc44c92ed0b2"}, {"label": "valid", "start_step": 1, "end_step": 4284, "id": "myUFBqkvEYm8chTlpFC_-"}, {"label": "subtasks", "start_step": 98, "end_step": 164, "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: grasp: Right hand closes its fingers around the green hexagonal block on the table and adjusts the grip to stabilize 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 table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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: 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": 181, "end_step": 345, "id": "d79f7aa1-b900-4457-85ac-95d098ba83c3"}, {"label": "subtasks", "start_step": 202, "end_step": 231, "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: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost purple peg on the wooden board."}, {"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 with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it down onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "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: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"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 with no observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 346, "end_step": 456, "id": "cb1caa45-9a03-444e-964d-52fd8a580760"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "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: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 457, "end_step": 708, "id": "184c5f21-9a0b-4e21-972b-a8638b3fea1b"}, {"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 with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "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: mate: Right hand aligns the hole of the white hexagonal block with the front-left purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 704, "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: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "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 places the white hexagonal block onto the rightmost purple peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 709, "end_step": 822, "id": "7be4ab04-a016-4281-b520-b1a247d9a9e5"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "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 downward toward the white hexagonal block on the black table surface."}, {"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 with no observable movement. | 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": 788, "end_step": 809, "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: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "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: grasp: Right hand grasps the white hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 823, "end_step": 1050, "id": "ab58f0bf-fb69-4580-b569-957a9876944b"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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: lift_transport: Right hand lifts the white hollow block off the table surface and transports it towards the left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 1034, "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: mate: Right hand aligns the white hollow block with the left purple peg on the wooden rack, fits it onto the peg, and makes small adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "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: release: Right hand releases the white hollow block on the purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1051, "end_step": 1152, "id": "63ca0efd-8a92-4cb6-ba75-9424262f3689"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "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: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking tower."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1153, "end_step": 1344, "id": "95841f26-26f2-4048-98fc-f3570b873553"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "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: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1371, "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: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases the object."}, {"label": "goal", "start_step": 1345, "end_step": 1443, "id": "2e0ac1cc-2cfa-4c8d-923a-8b4e5ee89236"}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "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: reach: Right hand reaches downward toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "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: 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": 1410, "end_step": 1439, "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: hold: Right hand holds the green hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "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 grasps the green cubic block on the dark table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1444, "end_step": 1635, "id": "67af6f19-8c8f-40c4-a5d3-3fce59791dd4"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "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 lifts the green cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "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: Right hand transports the green cubic block upward and toward the wooden peg board on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1634, "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: mate: Right hand aligns the green cubic block with the vertical peg on the board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "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 upper block set toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1636, "end_step": 1743, "id": "f2cfb294-bac4-43bf-956f-4bdbcadab101"}, {"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 table with no observable movement. | 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": 1740, "end_step": 1754, "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 cylindrical object on the table next to the green cubic block without moving."}, {"label": "goal", "start_step": 1744, "end_step": 1950, "id": "b2a72b14-da15-4028-94c3-00685404fd1a"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the back-right peg board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1934, "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 mates the white cylindrical object onto a vertical peg on the peg board via aligning and downward movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "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: hold: Right hand holds the white cylindrical object fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "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: reach: Right hand moves down and right from the top of the block stack toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1951, "end_step": 2070, "id": "9fc953dd-dbd8-4591-a32c-694108e4f67b"}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "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: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "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: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "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: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 2071, "end_step": 2223, "id": "9a40b1bd-1532-4c62-97da-d212f9b88847"}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "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: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 2108, "end_step": 2219, "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: mate_release: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole, and releases the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "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: lift_release: Right hand lifts the purple rod upward from the white cylinder on the right side of the pegboard and releases the rod."}, {"label": "goal", "start_step": 2224, "end_step": 2304, "id": "6c3f6bd2-2ca1-4a1b-a267-a423045e2799"}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "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 downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "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 grasps the white hexagonal block on the black table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "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 block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "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: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2305, "end_step": 2853, "id": "26a0b78b-4a29-4615-a7dd-95139c45fdf8"}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "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: lift: Right hand lifts the white cylindrical block up from the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "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: transport: Right hand transports the white cylindrical block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2378, "end_step": 2849, "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: mate: Right hand aligns the white cylindrical block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "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: release: Right hand releases the top part of the rightmost white cylinder on the wooden rack."}, {"label": "goal", "start_step": 2854, "end_step": 3629, "id": "d2cc20c5-c042-4ac5-ae4d-8905d9855b34"}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "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: reach: Right hand moves downward toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "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: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00058", "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 green cubic block off the table and moves it upward to the area above the wooden rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3434, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand aligns and adjusts the green cubic block to fit onto the white cylinder of the wooden rack before releasing it, causing the block to fall onto the table."}, {"label": "subtasks", "start_step": 3435, "end_step": 3494, "id": "reasoning-language-00060", "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 green cubic block that has fallen on the table."}, {"label": "subtasks", "start_step": 3495, "end_step": 3629, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers continuously adjusting the contact position and grip."}, {"label": "subtasks", "start_step": 3630, "end_step": 3644, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cube on the right table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 3630, "end_step": 4271, "id": "88fb8c86-c6b3-42fc-a15e-c4196f9908f0"}, {"label": "subtasks", "start_step": 3645, "end_step": 3681, "id": "reasoning-language-00063", "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 green cube off the table and transports it leftward to the top of the purple-tipped bottle at the front right of the bottle rack."}, {"label": "subtasks", "start_step": 3682, "end_step": 4259, "id": "reasoning-language-00064", "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 green cube with the purple-tipped bottle and fits it onto the bottle, making continuous fine adjustments to the position and orientation of the green cube during the assembly process."}, {"label": "subtasks", "start_step": 4260, "end_step": 4274, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 4285, "end_step": 4314, "id": "Xo8V0H6zNZqCmqEyF4P9D"}], "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 with no observable movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface in front of the wooden peg rack, with the wrist rotating about 90 degrees downward to face the fingers toward the block."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "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: grasp: Right hand closes its fingers around the green hexagonal block on the table and adjusts the grip to stabilize 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 table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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: 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": 202, "end_step": 231, "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: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost purple peg on the wooden board."}, {"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 with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it down onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "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: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"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 with no observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "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: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip."}, {"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 with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "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: mate: Right hand aligns the hole of the white hexagonal block with the front-left purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 704, "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: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "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 places the white hexagonal block onto the rightmost purple peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "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 downward toward the white hexagonal block on the black table surface."}, {"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 with no observable movement. | 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": 788, "end_step": 809, "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: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "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: grasp: Right hand grasps the white hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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: lift_transport: Right hand lifts the white hollow block off the table surface and transports it towards the left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 1034, "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: mate: Right hand aligns the white hollow block with the left purple peg on the wooden rack, fits it onto the peg, and makes small adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "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: release: Right hand releases the white hollow block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "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: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking tower."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "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: 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": 1170, "end_step": 1191, "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: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1371, "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: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases the object."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "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: reach: Right hand reaches downward toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "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: 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": 1410, "end_step": 1439, "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: hold: Right hand holds the green hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "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 grasps the green cubic block on the dark table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "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 lifts the green cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "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: Right hand transports the green cubic block upward and toward the wooden peg board on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1634, "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: mate: Right hand aligns the green cubic block with the vertical peg on the board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "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 upper block set toward the white hexagonal block on the table."}, {"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 table with no observable movement. | 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": 1740, "end_step": 1754, "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 cylindrical object on the table next to the green cubic block without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the back-right peg board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1934, "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 mates the white cylindrical object onto a vertical peg on the peg board via aligning and downward movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "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: hold: Right hand holds the white cylindrical object fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "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: reach: Right hand moves down and right from the top of the block stack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "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: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "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: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "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: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "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: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 2108, "end_step": 2219, "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: mate_release: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole, and releases the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "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: lift_release: Right hand lifts the purple rod upward from the white cylinder on the right side of the pegboard and releases the rod."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "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 downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "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 grasps the white hexagonal block on the black table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "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 block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "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: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "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: lift: Right hand lifts the white cylindrical block up from the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "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: transport: Right hand transports the white cylindrical block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2378, "end_step": 2849, "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: mate: Right hand aligns the white cylindrical block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "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: release: Right hand releases the top part of the rightmost white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "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: reach: Right hand moves downward toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "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: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00058", "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 green cubic block off the table and moves it upward to the area above the wooden rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3434, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand aligns and adjusts the green cubic block to fit onto the white cylinder of the wooden rack before releasing it, causing the block to fall onto the table."}, {"label": "subtasks", "start_step": 3435, "end_step": 3494, "id": "reasoning-language-00060", "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 green cubic block that has fallen on the table."}, {"label": "subtasks", "start_step": 3495, "end_step": 3629, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers continuously adjusting the contact position and grip."}, {"label": "subtasks", "start_step": 3630, "end_step": 3644, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cube on the right table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 3645, "end_step": 3681, "id": "reasoning-language-00063", "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 green cube off the table and transports it leftward to the top of the purple-tipped bottle at the front right of the bottle rack."}, {"label": "subtasks", "start_step": 3682, "end_step": 4259, "id": "reasoning-language-00064", "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 green cube with the purple-tipped bottle and fits it onto the bottle, making continuous fine adjustments to the position and orientation of the green cube during the assembly process."}, {"label": "subtasks", "start_step": 4260, "end_step": 4274, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}], "episode_index": 9}
+{"source_uid": "2a5e4b47cef87b66", "num_frames": 5098, "annotation_status": "loaded", "has_annotation": true, "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 table without any movement. | Right hand: reach: Right hand moves from the right side of the table towards the green block located in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 192, "id": "b8a80ad8-fcd4-432a-ba63-c5e25eafff9f"}, {"label": "valid", "start_step": 0, "end_step": 5064, "id": "y0w7KSAqe_v6wDVEEzaU-"}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green block on the table."}, {"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 any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until it is completely off the support."}, {"label": "goal", "start_step": 193, "end_step": 990, "id": "991b4e77-df5b-4bec-b602-d77eb556086f"}, {"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 any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the vertical purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the target purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 967, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg repeatedly to push it tightly onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green hexagonal block and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 991, "end_step": 1158, "id": "4bf19dd0-1fe7-4185-b49a-6fcfb4ca9ee5"}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1159, "end_step": 1425, "id": "7fc6a26c-6ea6-453e-91d4-b92793d6ee7c"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the green rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1334, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to fix it, then releases the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats upwards away from the assembled block and rod."}, {"label": "goal", "start_step": 1426, "end_step": 1572, "id": "cddaef86-f6b6-4e5e-8821-df79538e3136"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the black table surface."}, {"label": "goal", "start_step": 1573, "end_step": 1947, "id": "5204a600-1258-4e0f-99c0-d29be87c0b40"}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal sleeve with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1934, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the white hexagonal sleeve down along the purple rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 1935, "end_step": 2047, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden rack area to the white hexagonal block on the table."}, {"label": "goal", "start_step": 1948, "end_step": 2382, "id": "e800ac2f-95a9-44cc-ab23-3aac232dcc76"}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2271, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to another white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2399, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2383, "end_step": 2598, "id": "9a4e7381-3328-4f08-bcbe-e5a71c7978d3"}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2587, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it downwards."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 2595, "end_step": 2661, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "goal", "start_step": 2599, "end_step": 2721, "id": "2894f746-2907-4f9b-9b10-2397b900e964"}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the green hexagonal block on the table."}, {"label": "goal", "start_step": 2722, "end_step": 2922, "id": "b6162a25-5e85-449f-bf8c-30805e8154b9"}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2775, "end_step": 2827, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the top of the rightmost purple rod."}, {"label": "subtasks", "start_step": 2828, "end_step": 2909, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the green hexagonal block onto the purple rod and presses it down to fit securely."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2923, "end_step": 3054, "id": "7338958b-ff29-45ae-bb43-38977d682456"}, {"label": "subtasks", "start_step": 2940, "end_step": 2969, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2970, "end_step": 3074, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 3055, "end_step": 3684, "id": "1a0dc148-c366-4b9b-b8ac-b078134093aa"}, {"label": "subtasks", "start_step": 3075, "end_step": 3127, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3128, "end_step": 3149, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 3150, "end_step": 3247, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 3248, "end_step": 3434, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the purple rod and transports it toward the right area of the black tabletop."}, {"label": "subtasks", "start_step": 3435, "end_step": 3487, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white cylindrical block back toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3488, "end_step": 3674, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the white cylindrical block onto the purple rod and presses it down to fully seat it in position."}, {"label": "subtasks", "start_step": 3675, "end_step": 3704, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 3685, "end_step": 3831, "id": "1cfa1c0b-f2c7-4627-812c-e68fd573ae9d"}, {"label": "subtasks", "start_step": 3705, "end_step": 3771, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats from the wooden base area to the right side."}, {"label": "subtasks", "start_step": 3772, "end_step": 3801, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3802, "end_step": 3861, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 3832, "end_step": 4020, "id": "20474500-091b-4d32-ad97-92fee4759c09"}, {"label": "subtasks", "start_step": 3862, "end_step": 3914, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3915, "end_step": 4019, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand inserts the white hollow cylinder onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 4021, "end_step": 4293, "id": "b8b2c255-3a0f-4039-a31c-152de39aff76"}, {"label": "subtasks", "start_step": 4072, "end_step": 4311, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 4294, "end_step": 4662, "id": "3f1b62ee-69d0-4861-83d1-3e514510feb0"}, {"label": "subtasks", "start_step": 4312, "end_step": 4371, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 4372, "end_step": 4641, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete mating."}, {"label": "subtasks", "start_step": 4642, "end_step": 4649, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 4650, "end_step": 4671, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the top of the white bottle with purple tip on the right side of the wooden tray."}, {"label": "goal", "start_step": 4663, "end_step": 4779, "id": "e10cf936-7753-4c28-b418-6cb49fd3f4ba"}, {"label": "subtasks", "start_step": 4672, "end_step": 4731, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the area near the white bottle towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 4732, "end_step": 4799, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 4780, "end_step": 5022, "id": "3b1394df-d060-497e-b329-0f236cab65db"}, {"label": "subtasks", "start_step": 4800, "end_step": 4859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic object from the table and transports it towards the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 4860, "end_step": 4934, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the green cubic object with the top of the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4935, "end_step": 5024, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_release: Right hand places the green cubic object onto the top of the white bottle and releases the grip."}, {"label": "home", "start_step": 5065, "end_step": 5097, "id": "rNttswlO2gUEZ0AlIZa5N"}], "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 table without any movement. | Right hand: reach: Right hand moves from the right side of the table towards the green block located in front of the wooden peg base."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green block on the table."}, {"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 any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until it is completely off the support."}, {"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 any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the vertical purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the target purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 967, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg repeatedly to push it tightly onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green hexagonal block and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the green rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1334, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to fix it, then releases the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats upwards away from the assembled block and rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal sleeve with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1934, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the white hexagonal sleeve down along the purple rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 1935, "end_step": 2047, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden rack area to the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2271, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to another white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2399, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2587, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it downwards."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 2595, "end_step": 2661, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2775, "end_step": 2827, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the top of the rightmost purple rod."}, {"label": "subtasks", "start_step": 2828, "end_step": 2909, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the green hexagonal block onto the purple rod and presses it down to fit securely."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2940, "end_step": 2969, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2970, "end_step": 3074, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3075, "end_step": 3127, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3128, "end_step": 3149, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 3150, "end_step": 3247, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 3248, "end_step": 3434, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the purple rod and transports it toward the right area of the black tabletop."}, {"label": "subtasks", "start_step": 3435, "end_step": 3487, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white cylindrical block back toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3488, "end_step": 3674, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the white cylindrical block onto the purple rod and presses it down to fully seat it in position."}, {"label": "subtasks", "start_step": 3675, "end_step": 3704, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 3705, "end_step": 3771, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats from the wooden base area to the right side."}, {"label": "subtasks", "start_step": 3772, "end_step": 3801, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3802, "end_step": 3861, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3862, "end_step": 3914, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3915, "end_step": 4019, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand inserts the white hollow cylinder onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 4072, "end_step": 4311, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 4312, "end_step": 4371, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 4372, "end_step": 4641, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete mating."}, {"label": "subtasks", "start_step": 4642, "end_step": 4649, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 4650, "end_step": 4671, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the top of the white bottle with purple tip on the right side of the wooden tray."}, {"label": "subtasks", "start_step": 4672, "end_step": 4731, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the area near the white bottle towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 4732, "end_step": 4799, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 4800, "end_step": 4859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic object from the table and transports it towards the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 4860, "end_step": 4934, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the green cubic object with the top of the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4935, "end_step": 5024, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_release: Right hand places the green cubic object onto the top of the white bottle and releases the grip."}], "episode_index": 10}
+{"source_uid": "c93f3e03d269d7d6", "num_frames": 3163, "annotation_status": "loaded", "has_annotation": true, "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 and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed to the left of the wooden assembly base, with fingers open and extended during the movement."}, {"label": "goal", "start_step": 0, "end_step": 183, "id": "e5997057-40ed-408f-bea1-f10b0a800d06"}, {"label": "valid", "start_step": 0, "end_step": 3132, "id": "ZYQGOpvBeBye5koIobStc"}, {"label": "subtasks", "start_step": 90, "end_step": 217, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block left of the wooden assembly base to establish a stable grip."}, {"label": "goal", "start_step": 184, "end_step": 378, "id": "110cc4b8-64c4-48e3-93c8-00106787bcdb"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark work surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block to align with the left purple peg on the wooden board, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary 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 peg on the wooden pegboard, releasing the block once the block is supported by the peg."}, {"label": "goal", "start_step": 379, "end_step": 567, "id": "f1c6b4a1-2f08-4d2f-bf95-76ccc40f1683"}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the pegboard area toward the white hexagonal nut resting on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, making slight adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "goal", "start_step": 568, "end_step": 717, "id": "69ab4f61-ad5d-4519-9d3b-b69258f553c4"}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward to position it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any 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": "goal", "start_step": 718, "end_step": 828, "id": "7de9006c-e430-43d0-8489-a601d3a6b76f"}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger and wrist positions while closing fingers around the block to establish a stable grip."}, {"label": "goal", "start_step": 829, "end_step": 1011, "id": "fd8f5a01-9aa4-45e4-b29a-9ce9cc32bbc1"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary 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 leftmost purple rod and lowers the block to fit onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden stand without any observable movement."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves downward to place white capped cylindrical blocks onto the vertical pegs of the wooden base, until each block is stably supported by the pegs."}, {"label": "goal", "start_step": 1012, "end_step": 1158, "id": "a794c51a-ed7b-4898-b7e0-38b494aa4e1b"}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block located on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block without any observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible 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": 1159, "end_step": 1326, "id": "38d3c48e-10f1-4fb2-8819-76fadc9d13e6"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and lowers the block to fit onto the rod, making small wrist adjustments to align the parts correctly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to set it onto the purple post on the wooden peg base, until the block rests stably on the base."}, {"label": "goal", "start_step": 1327, "end_step": 1419, "id": "8b777584-1214-43e6-880c-d47264b0d76f"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post, separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark work surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 1372, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusting finger positions to close around the block to form a stable grip."}, {"label": "goal", "start_step": 1420, "end_step": 1605, "id": "d8a1942a-5450-4cb6-a043-4b784208a043"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the work surface and transports it upward to the area above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the white hexagonal block beneath it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the green block, moves it downward to seat it on the matching green peg of the wooden block base, and releases the block with open fingers as the block becomes supported by the base."}, {"label": "goal", "start_step": 1606, "end_step": 1686, "id": "948e4f64-64a7-4527-9cc1-112fae11e5a5"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface in front of the block base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary 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 surface, making small adjustments to finger position to establish a grip on the block."}, {"label": "goal", "start_step": 1687, "end_step": 1842, "id": "6cf7d27e-da52-4a0d-91ce-51afcca4bdb5"}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to raise it completely off the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted white cylindrical block upward and toward the wooden assembly base, positioning it directly above the target vertical mounting rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target vertical rod on the assembly stand, then lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white-and-green block, aligns it with the peg on the wooden base, lowers it until the block is supported by the base, and opens fingers to release contact with the block."}, {"label": "goal", "start_step": 1843, "end_step": 1932, "id": "694add48-fb2e-4cba-a3fd-467f256d29dc"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward and to the right from the wooden base area toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand positions fingers around the loose white hexagonal block on the table and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the wooden block stand without moving."}, {"label": "goal", "start_step": 1933, "end_step": 2316, "id": "4b0d31d4-b556-41b4-8497-5da66b48ad67"}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block straight upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward to position it directly above the purple vertical rod on the wooden stand."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary 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, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block partially fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, sliding it further down the purple rod to continue the fitting process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2377, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the area adjacent to the purple rod on the wooden block rack toward the white hexagonal block placed on the black table, fingers held slightly open during the movement."}, {"label": "goal", "start_step": 2317, "end_step": 2436, "id": "732e6dde-6882-4dab-b9d1-c4072a8fb54b"}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and making small adjustments to form a grip on the block."}, {"label": "goal", "start_step": 2437, "end_step": 2619, "id": "1241d578-a0c5-4d09-8ebc-0a7a8a8dd600"}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary 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, moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 2528, "end_step": 2609, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the position near the purple-topped cylinder on the wooden holder downward and to the right, approaching the green cubic block placed on the dark table surface."}, {"label": "goal", "start_step": 2620, "end_step": 2730, "id": "7a2e7128-331e-4ad3-bc6e-9ff44de2d2b7"}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its thumb and index finger positions around the green cubic block, with fingers slightly closing to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward off the black table surface."}, {"label": "goal", "start_step": 2731, "end_step": 3111, "id": "14a691b8-4fda-4785-a181-2efb7a61d20d"}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position directly above the purple-capped bottle on the wooden bottle rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2811, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple cap of the target bottle, adjusting the block's orientation slightly to match the cap."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the aligned green block downward until it fits onto the bottle cap and is stably supported by the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 3097, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block steadily on top of the purple-capped bottle without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 3098, "end_step": 3119, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains stable on the bottle."}, {"label": "home", "start_step": 3133, "end_step": 3162, "id": "IynwHcHtx4TUbRvPQ7ups"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed to the left of the wooden assembly base, with fingers open and extended during the movement."}, {"label": "subtasks", "start_step": 90, "end_step": 217, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block left of the wooden assembly base to establish a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark work surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block to align with the left purple peg on the wooden board, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary 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 peg on the wooden pegboard, releasing the block once the block is supported by the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the pegboard area toward the white hexagonal nut resting on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, making slight adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward to position it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any 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": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger and wrist positions while closing fingers around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary 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 leftmost purple rod and lowers the block to fit onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden stand without any observable movement."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves downward to place white capped cylindrical blocks onto the vertical pegs of the wooden base, until each block is stably supported by the pegs."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block located on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block without any observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible 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": 1185, "end_step": 1207, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and lowers the block to fit onto the rod, making small wrist adjustments to align the parts correctly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to set it onto the purple post on the wooden peg base, until the block rests stably on the base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post, separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark work surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 1372, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusting finger positions to close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the work surface and transports it upward to the area above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the white hexagonal block beneath it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the green block, moves it downward to seat it on the matching green peg of the wooden block base, and releases the block with open fingers as the block becomes supported by the base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface in front of the block base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary 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 surface, making small adjustments to finger position to establish a grip on the block."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to raise it completely off the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted white cylindrical block upward and toward the wooden assembly base, positioning it directly above the target vertical mounting rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target vertical rod on the assembly stand, then lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white-and-green block, aligns it with the peg on the wooden base, lowers it until the block is supported by the base, and opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward and to the right from the wooden base area toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand positions fingers around the loose white hexagonal block on the table and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the wooden block stand without moving."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block straight upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward to position it directly above the purple vertical rod on the wooden stand."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary 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, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block partially fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, sliding it further down the purple rod to continue the fitting process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2377, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the area adjacent to the purple rod on the wooden block rack toward the white hexagonal block placed on the black table, fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and making small adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary 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, moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 2528, "end_step": 2609, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the position near the purple-topped cylinder on the wooden holder downward and to the right, approaching the green cubic block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its thumb and index finger positions around the green cubic block, with fingers slightly closing to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward off the black table surface."}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position directly above the purple-capped bottle on the wooden bottle rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2811, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple cap of the target bottle, adjusting the block's orientation slightly to match the cap."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the aligned green block downward until it fits onto the bottle cap and is stably supported by the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 3097, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block steadily on top of the purple-capped bottle without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 3098, "end_step": 3119, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains stable on the bottle."}], "episode_index": 11}
+{"source_uid": "1432a5740616bc68", "num_frames": 2862, "annotation_status": "loaded", "has_annotation": true, "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 and stops. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "goal", "start_step": 0, "end_step": 276, "id": "74a1430e-f922-42e9-b38c-6c000b31ca6e"}, {"label": "valid", "start_step": 0, "end_step": 2831, "id": "jprnwOFGYJef4YCK1IKZa"}, {"label": "subtasks", "start_step": 38, "end_step": 111, "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 and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "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 around the green hexagonal block on the left table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "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 hexagonal block on the left table without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "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 hexagonal block on the dark table, with fingers closing and adjusting to secure the block."}, {"label": "goal", "start_step": 277, "end_step": 444, "id": "80885dd2-5159-43ba-8a94-42b6fd09fbe7"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "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 and transports the green hexagonal block from the dark table to the area above the leftmost peg on the wooden board."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "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 hexagonal block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 445, "end_step": 582, "id": "94dc608b-2989-473f-8a2a-e8574712e83d"}, {"label": "subtasks", "start_step": 450, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00012", "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 black table surface with closing and adjusting fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "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 black table surface without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 583, "end_step": 795, "id": "89c7fea9-8f3c-42f1-89be-97ae6f22243d"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "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 from the table while moving it to the position above the leftmost purple peg on the base."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and moves it down to fit the block onto the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the leftmost purple peg to push it to the bottom of the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 796, "end_step": 906, "id": "704e8f8e-7fd3-40c6-a269-13c036427352"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty 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 contact position."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00022", "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 black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 907, "end_step": 1068, "id": "6bb0e382-d15d-475a-b866-4c3575b0bd43"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00025", "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 fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white block on top of the leftmost vertical peg, with fingers opening."}, {"label": "goal", "start_step": 1069, "end_step": 1194, "id": "2331b6d1-f722-4800-841d-a93101866e07"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00027", "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 leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00028", "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 surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00030", "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 dark table, with fingers adjusting to form a stable grip while the block remains on the table surface."}, {"label": "goal", "start_step": 1195, "end_step": 1494, "id": "53556bf2-43a0-4c1e-9675-f60894a11a27"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00031", "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 position above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported by the block structure below."}, {"label": "subtasks", "start_step": 1358, "end_step": 1484, "id": "reasoning-language-00034", "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 purple peg without any movement."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1495, "end_step": 1635, "id": "a497d1af-e423-43c5-bb27-61aec1331191"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the 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": 1582, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "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 green cubic block from the black table surface."}, {"label": "goal", "start_step": 1636, "end_step": 1791, "id": "837adb18-8014-4d04-b639-645292b3040a"}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle vertical peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "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 green cubic block on the middle vertical peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00043", "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 a vertical peg on the wooden base."}, {"label": "goal", "start_step": 1792, "end_step": 1899, "id": "82934e11-e5fa-4c66-a632-99df225972ee"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the 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": 1860, "end_step": 1919, "id": "reasoning-language-00045", "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 surface with fingers closing around it."}, {"label": "goal", "start_step": 1900, "end_step": 2049, "id": "be1c73c3-49d1-4537-a69f-59b73ba5aece"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "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 table and transports it upward and rightward toward the peg rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the rack and moves it downward to fit the object onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00048", "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 fitted on the rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the building block set's peg and releases it."}, {"label": "goal", "start_step": 2050, "end_step": 2160, "id": "6dfdec93-3b6a-4092-a4e8-683c4e37f29e"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves empty toward the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 2161, "end_step": 2319, "id": "b6864257-266b-43aa-bb96-acdbc9618a61"}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00052", "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 off the table and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_place: Right hand aligns the white cylindrical block with the purple rod, fits it onto the rod, and lowers it to rest on the wooden board."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty 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": 2295, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical block and moves away from the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white cubic block on the black table surface."}, {"label": "goal", "start_step": 2320, "end_step": 2379, "id": "b30362fe-3ba5-4a20-bece-91c3edddf67e"}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the white cubic block on the table to form a stable grasp, with slight finger position adjustment."}, {"label": "goal", "start_step": 2380, "end_step": 2532, "id": "32becbb3-08e7-404d-92a2-e688cee63f2c"}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table surface and transports it upward and leftward toward the wooden pegboard with the purple peg."}, {"label": "subtasks", "start_step": 2430, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg on the wooden pegboard and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top part of the front-right white cylinder on the wooden rack downward."}, {"label": "goal", "start_step": 2533, "end_step": 2625, "id": "b4304bef-b40f-41f2-87b6-cd1e1d05c640"}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "id": "reasoning-language-00061", "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 table with empty hand."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp_lift: Right hand contacts the green cubic block on the table, closes fingers to grasp it, then lifts it upward off the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00063", "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2626, "end_step": 2802, "id": "85dc94ea-8701-431b-a347-48d5cdb9f7ac"}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it toward the white peg with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2678, "end_step": 2804, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped white peg on the wooden base by aligning the block's hole and inserting downward."}, {"label": "home", "start_step": 2832, "end_step": 2861, "id": "hinzyb1tZABbEEJrJN752"}], "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 and stops. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 38, "end_step": 111, "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 and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "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 around the green hexagonal block on the left table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "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 hexagonal block on the left table without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "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 hexagonal block on the dark table, with fingers closing and adjusting to secure the block."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "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 and transports the green hexagonal block from the dark table to the area above the leftmost peg on the wooden board."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "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 hexagonal block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 450, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00012", "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 black table surface with closing and adjusting fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "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 black table surface without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "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 from the table while moving it to the position above the leftmost purple peg on the base."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and moves it down to fit the block onto the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the leftmost purple peg to push it to the bottom of the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty 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 contact position."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00022", "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 black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00025", "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 fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white block on top of the leftmost vertical peg, with fingers opening."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00027", "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 leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00028", "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 surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00030", "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 dark table, with fingers adjusting to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00031", "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 position above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported by the block structure below."}, {"label": "subtasks", "start_step": 1358, "end_step": 1484, "id": "reasoning-language-00034", "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 purple peg without any movement."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the 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": 1582, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "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 green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle vertical peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "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 green cubic block on the middle vertical peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00043", "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 a vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the 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": 1860, "end_step": 1919, "id": "reasoning-language-00045", "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 surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "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 table and transports it upward and rightward toward the peg rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the rack and moves it downward to fit the object onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00048", "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 fitted on the rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the building block set's peg and releases it."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves empty toward the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00052", "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 off the table and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_place: Right hand aligns the white cylindrical block with the purple rod, fits it onto the rod, and lowers it to rest on the wooden board."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty 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": 2295, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical block and moves away from the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the white cubic block on the table to form a stable grasp, with slight finger position adjustment."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table surface and transports it upward and leftward toward the wooden pegboard with the purple peg."}, {"label": "subtasks", "start_step": 2430, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg on the wooden pegboard and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top part of the front-right white cylinder on the wooden rack downward."}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "id": "reasoning-language-00061", "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 table with empty hand."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp_lift: Right hand contacts the green cubic block on the table, closes fingers to grasp it, then lifts it upward off the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00063", "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it toward the white peg with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2678, "end_step": 2804, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped white peg on the wooden base by aligning the block's hole and inserting downward."}], "episode_index": 12}
+{"source_uid": "1df51f71365be95f", "num_frames": 2956, "annotation_status": "loaded", "has_annotation": true, "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 operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 309, "id": "c3fd716d-c49e-478d-be4f-f56d22c2faf2"}, {"label": "valid", "start_step": 0, "end_step": 2925, "id": "uaJ1KaV6Cx84DSh7LA6Rk"}, {"label": "subtasks", "start_step": 112, "end_step": 187, "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 leftmost purple rod, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 299, "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 holds the white cylinder and lifts it upward along the purple rod."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 310, "end_step": 465, "id": "86272b9d-ed7d-4717-a78c-0615b43a83d1"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "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 post of the wooden base."}, {"label": "goal", "start_step": 466, "end_step": 594, "id": "399223e8-55dc-43c7-a105-4a5d31d85d1f"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "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 towards the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "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 cylindrical block on the black tabletop with fingers closing around it to adjust grip."}, {"label": "goal", "start_step": 595, "end_step": 768, "id": "f4233962-5725-4fc3-809c-bb410f8eb9db"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "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: Right hand lifts the white hexagonal block until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "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_release: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 769, "end_step": 873, "id": "aef3a89e-4cb4-4cba-b742-a4c95e19b44d"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "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 grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 874, "end_step": 1017, "id": "4173bb37-0bda-4855-ab1d-532e0f60239a"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "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 cylindrical block on the wooden base peg, fingers open to separate from the block."}, {"label": "goal", "start_step": 1018, "end_step": 1161, "id": "be0c8dd2-e13f-4ee8-bd8a-6e892deaeca3"}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "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 small white cylindrical block near the bottom edge of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "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 contacts the small white cylindrical block on the table, fingers adjust to form a stable grasp on the block."}, {"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 operating area 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 tray."}, {"label": "goal", "start_step": 1162, "end_step": 1317, "id": "cb31b1d0-f83e-4ee9-a374-322422baa022"}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "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 block with the purple rod by lowering it onto the rod."}, {"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 operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1318, "end_step": 1419, "id": "0ddca351-5616-4dea-bf0a-49d712f453f9"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats downward away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "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 reaches toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "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 grasps the green cubic block, with fingers closing and adjusting to form stable grip."}, {"label": "goal", "start_step": 1420, "end_step": 1572, "id": "ac9d744c-918a-438e-9e90-c08176074daf"}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "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 and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "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 mates the green block with the purple rod on the wooden tray by lowering it onto the rod."}, {"label": "goal", "start_step": 1573, "end_step": 1671, "id": "202ea7f0-b545-4492-b032-964970462d8e"}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1672, "end_step": 1869, "id": "fcfbae7b-f0ae-4591-9730-9c65166eaaaa"}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the target peg on the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1927, "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 towards the white cylindrical block on the right black tabletop."}, {"label": "goal", "start_step": 1870, "end_step": 2007, "id": "39740d5a-dfbf-4a18-add3-eba3e41b15c3"}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "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 contacts the white cylindrical block and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 2008, "end_step": 2157, "id": "b2bca7d5-5a4e-4ebd-9275-b7dd83a2b63d"}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00036", "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 with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00037", "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 fitted on the purple rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "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 purple rod after releasing the cylinder."}, {"label": "goal", "start_step": 2158, "end_step": 2277, "id": "39468b1a-e4be-43c9-82c1-3fd152dd15fa"}, {"label": "subtasks", "start_step": 2160, "end_step": 2167, "id": "reasoning-language-00039", "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 on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the black table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2301, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2278, "end_step": 2433, "id": "a5b27473-9041-4a70-82ca-6e476700ef4a"}, {"label": "subtasks", "start_step": 2302, "end_step": 2347, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the tabletop and moves it towards the wooden tray with stacked blocks."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "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 white cylinder which is placed on the purple rod of the wooden tray."}, {"label": "goal", "start_step": 2434, "end_step": 2589, "id": "428fbdbc-bda7-4c7c-9c8a-cb81637ab040"}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2601, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2590, "end_step": 2889, "id": "dedcc4dd-da01-4681-8eb8-0ebc026784a6"}, {"label": "subtasks", "start_step": 2602, "end_step": 2661, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the white bottle with purple cap on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2714, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2715, "end_step": 2871, "id": "reasoning-language-00049", "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 bottle to the target position."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the green block from grasp."}, {"label": "home", "start_step": 2926, "end_step": 2955, "id": "J9yOi3vSKUYbJFZGuJI3W"}], "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 operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 187, "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 leftmost purple rod, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 299, "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 holds the white cylinder and lifts it upward along the purple rod."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "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 post of the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "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 towards the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "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 cylindrical block on the black tabletop with fingers closing around it to adjust grip."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "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: Right hand lifts the white hexagonal block until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "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_release: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "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 grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "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 cylindrical block on the wooden base peg, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "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 small white cylindrical block near the bottom edge of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "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 contacts the small white cylindrical block on the table, fingers adjust to form a stable grasp on the block."}, {"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 operating area 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 tray."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "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 block with the purple rod by lowering it onto the rod."}, {"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 operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats downward away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "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 reaches toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "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 grasps the green cubic block, with fingers closing and adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "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 and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "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 mates the green block with the purple rod on the wooden tray by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the target peg on the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1927, "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 towards the white cylindrical block on the right black tabletop."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "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 contacts the white cylindrical block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00036", "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 with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00037", "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 fitted on the purple rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "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 purple rod after releasing the cylinder."}, {"label": "subtasks", "start_step": 2160, "end_step": 2167, "id": "reasoning-language-00039", "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 on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the black table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2301, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2302, "end_step": 2347, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the tabletop and moves it towards the wooden tray with stacked blocks."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "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 white cylinder which is placed on the purple rod of the wooden tray."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2601, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2602, "end_step": 2661, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the white bottle with purple cap on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2714, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2715, "end_step": 2871, "id": "reasoning-language-00049", "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 bottle to the target position."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the green block from grasp."}], "episode_index": 13}
+{"source_uid": "328f0af5c965acdc", "num_frames": 2927, "annotation_status": "loaded", "has_annotation": true, "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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal block in front of the wooden peg base, with fingers extended, not yet contacting the target block."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "e044a777-e756-4254-ac22-97b607ac7d4b"}, {"label": "valid", "start_step": 0, "end_step": 2895, "id": "wgMExWALjhnK_YbvKkyUG"}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green hexagonal block resting on the dark table near the wooden pegboard."}, {"label": "goal", "start_step": 187, "end_step": 339, "id": "ae2ac625-c25e-4977-9072-e5f8d77649fe"}, {"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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden board and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block onto a purple peg of the wooden pegboard until the block rests on underlying blocks, opens fingers to release grip on the green block."}, {"label": "goal", "start_step": 340, "end_step": 477, "id": "dc2bf782-5010-4ed9-b89f-823b8b914c26"}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal block placed on the table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, makes small finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface in a stable grip, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 478, "end_step": 639, "id": "35fb929a-fcb4-4824-ade9-fb01617f96e8"}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to the position above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, slides the block down the rod and adjusts its position to complete the nesting assembly on top of the green block below."}, {"label": "goal", "start_step": 640, "end_step": 762, "id": "41af9317-5bbe-4e2a-8ab7-9ac0318b8d6e"}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downwards towards the front-left white hexagonal block on the dark work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block, making slight adjustments to finger contact points to establish a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 763, "end_step": 969, "id": "694a8231-6ad8-460f-a8a7-4be2d6948b95"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the unoccupied purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 810, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and slides the nut down the rod to fit into the assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns and fits the white block onto the purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 970, "end_step": 1083, "id": "4e50e1a5-7366-43a0-94b4-6a5bffeec8a6"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_reach: Right hand releases the fitted white block on the purple rod and moves downward empty toward the adjacent white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, adjusting finger contact positions to establish a stable grasp."}, {"label": "goal", "start_step": 1084, "end_step": 1230, "id": "957ccf95-eaa3-447f-b741-4d99cbdd136e"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | 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 vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg, lowering the block to fit it onto the peg during assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple vertical peg without observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the front green hexagonal block on the dark table surface, keeping fingers open while approaching the target."}, {"label": "goal", "start_step": 1231, "end_step": 1311, "id": "ee3af3eb-abe0-4b36-9f5c-c1440233ce0a"}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the front green hexagonal block on the table, closing fingers to make contact and form a stable grasp on the block."}, {"label": "goal", "start_step": 1312, "end_step": 1464, "id": "6745f0de-e5b6-4412-9b63-253a50044d76"}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the purple rod on the wooden block base, positioning it directly above the rod."}, {"label": "subtasks", "start_step": 1358, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block to slide it onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "goal", "start_step": 1465, "end_step": 1548, "id": "0e659b75-f56d-48b6-8d72-b4c9c76cb887"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed near the green block on the table, approaching the target nut."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, fingers close and adjust contact points to establish a stable grip on the nut."}, {"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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "goal", "start_step": 1549, "end_step": 1692, "id": "94e04913-5934-4072-ad1d-195a9988a880"}, {"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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the wooden block rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the top white cylinder on the wooden assembly base, breaking contact with the object."}, {"label": "goal", "start_step": 1693, "end_step": 1779, "id": "43d981c9-01a5-431c-a3e3-fcd950b47ed6"}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward to approach the small white hollow cylinder on the table near the assembly base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small white hollow cylinder on the table, making fine adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1780, "end_step": 1890, "id": "9aeaf6d1-1983-4ef4-bbc4-45bde6b79175"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transporting it upward to a position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, moving the block downward to fit onto the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1889, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block seated on the purple rod, moving slightly away from the assembled block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, with fingers slightly extended, without touching the block."}, {"label": "goal", "start_step": 1891, "end_step": 1965, "id": "323feb23-5e27-4295-b162-57a70ccbb884"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a grasp, with the block remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without obvious movement or hand shape change."}, {"label": "goal", "start_step": 1966, "end_step": 2175, "id": "596f21a1-b79f-4d77-a9ca-5216ba892396"}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark-colored table surface, and moves it upward and leftward to the position above the empty slot on the light wooden block rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2174, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the wooden block rack, inserts the block into the slot to complete the assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand releases the white bottle with a purple cap placed on the wooden tray, fingers opening to separate from the bottle surface."}, {"label": "goal", "start_step": 2176, "end_step": 2283, "id": "563ce16a-e492-45a1-8ad7-d69e70961176"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, approaching the target while remaining empty."}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green square block, fingers gradually closing to establish contact with the block which stays on the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand grips the green cubic block resting on the right black tabletop and lifts it upward until the block is completely separated from the table surface."}, {"label": "goal", "start_step": 2284, "end_step": 2871, "id": "8f159f65-df9b-4bc0-b860-f76a69366f8f"}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block, moving it upward and rightward to the position directly above the purple post on the wooden block tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green cubic block, aligns its central hole with the purple post, and fits the block down onto the post until the block is supported by underlying objects."}, {"label": "subtasks", "start_step": 2722, "end_step": 2857, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand maintains grip on the green cubic block fitted on the purple post, making slight finger and wrist adjustments to stabilize the block's placement."}, {"label": "subtasks", "start_step": 2858, "end_step": 2879, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green cubic block, fully separating the hand from the placed block."}, {"label": "home", "start_step": 2896, "end_step": 2926, "id": "YQ9hYw3TTza2R73qP4_iQ"}], "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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal block in front of the wooden peg base, with fingers extended, not yet contacting the target block."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green hexagonal block resting on the dark table near the wooden pegboard."}, {"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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden board and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block onto a purple peg of the wooden pegboard until the block rests on underlying blocks, opens fingers to release grip on the green block."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal block placed on the table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, makes small finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface in a stable grip, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to the position above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, slides the block down the rod and adjusts its position to complete the nesting assembly on top of the green block below."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downwards towards the front-left white hexagonal block on the dark work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block, making slight adjustments to finger contact points to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the unoccupied purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 810, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and slides the nut down the rod to fit into the assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns and fits the white block onto the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_reach: Right hand releases the fitted white block on the purple rod and moves downward empty toward the adjacent white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | 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 vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg, lowering the block to fit it onto the peg during assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple vertical peg without observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the front green hexagonal block on the dark table surface, keeping fingers open while approaching the target."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the front green hexagonal block on the table, closing fingers to make contact and form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the purple rod on the wooden block base, positioning it directly above the rod."}, {"label": "subtasks", "start_step": 1358, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block to slide it onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed near the green block on the table, approaching the target nut."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, fingers close and adjust contact points to establish a stable grip on the nut."}, {"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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the wooden block rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the top white cylinder on the wooden assembly base, breaking contact with the object."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward to approach the small white hollow cylinder on the table near the assembly base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small white hollow cylinder on the table, making fine adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transporting it upward to a position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, moving the block downward to fit onto the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1889, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block seated on the purple rod, moving slightly away from the assembled block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, with fingers slightly extended, without touching the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a grasp, with the block remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without obvious movement or hand shape change."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark-colored table surface, and moves it upward and leftward to the position above the empty slot on the light wooden block rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2174, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the wooden block rack, inserts the block into the slot to complete the assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand releases the white bottle with a purple cap placed on the wooden tray, fingers opening to separate from the bottle surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, approaching the target while remaining empty."}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green square block, fingers gradually closing to establish contact with the block which stays on the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand grips the green cubic block resting on the right black tabletop and lifts it upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block, moving it upward and rightward to the position directly above the purple post on the wooden block tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green cubic block, aligns its central hole with the purple post, and fits the block down onto the post until the block is supported by underlying objects."}, {"label": "subtasks", "start_step": 2722, "end_step": 2857, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand maintains grip on the green cubic block fitted on the purple post, making slight finger and wrist adjustments to stabilize the block's placement."}, {"label": "subtasks", "start_step": 2858, "end_step": 2879, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green cubic block, fully separating the hand from the placed block."}], "episode_index": 14}
+{"source_uid": "14df67aefc306186", "num_frames": 4716, "annotation_status": "loaded", "has_annotation": true, "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 workbench without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block located on the left side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 168, "id": "d653ed38-d4a2-412d-a83d-e7000f94eb33"}, {"label": "valid", "start_step": 0, "end_step": 4685, "id": "QkyUBGpG7OpnewPK9tqjF"}, {"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 workbench without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left of the wooden pegboard, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green cubic block from the dark table surface."}, {"label": "goal", "start_step": 169, "end_step": 375, "id": "a3a14eb7-5a55-40d5-95bf-9c8e7171d417"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand fits the green cubic block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening to separate from the block."}, {"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 workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left-front purple peg of the wooden base."}, {"label": "goal", "start_step": 376, "end_step": 489, "id": "5d52d07c-ff4d-4d86-a648-9d5db652bd62"}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front-left area of the table."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 490, "end_step": 753, "id": "ac07ce6b-eb2b-4d1b-9641-c468857c8b28"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it backward and upward to above the front-left purple peg on the wooden board."}, {"label": "subtasks", "start_step": 525, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg and inserts it downward onto the peg, adjusting the part's position during assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening to release the grip."}, {"label": "goal", "start_step": 754, "end_step": 885, "id": "80703a3b-b717-4195-9e4f-a6fa1d7b15a3"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downwards from the wooden base area toward the white hexagonal block on the left side of the workbench surface."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench surface without any observable movement."}, {"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 workbench 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": 886, "end_step": 1074, "id": "d868fa82-a77f-4f7c-ab05-3ea846507b04"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 938, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the wooden rack and moves it downward along the rod for assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the middle purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1075, "end_step": 1683, "id": "d459bac5-805b-4285-a0b1-3b19e71db6c7"}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release_reach: Right hand releases the white hexagonal block from the middle purple peg and moves downward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: push: Right hand pushes the fallen white hexagonal block leftward across the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1717, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left side of the table surface without moving."}, {"label": "goal", "start_step": 1684, "end_step": 1881, "id": "40e7e15f-f430-4173-ad82-3e9b91750054"}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning the part's hole with the peg and lowering it to fit in place."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hexagonal part fitted on the purple peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple rod and releases the block."}, {"label": "goal", "start_step": 1882, "end_step": 1995, "id": "61bce51f-e661-4562-a98a-13e75a7dd444"}, {"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 workbench without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1920, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1996, "end_step": 2169, "id": "af9da33e-cfed-4a39-b367-044fa7dbfba1"}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the position above the wooden peg board."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden board."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white hollow block with the post on the green block of the block tower and releases it."}, {"label": "goal", "start_step": 2170, "end_step": 2301, "id": "a0dcbf26-425e-4f16-b33b-5cfacad5862a"}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table below the block tower."}, {"label": "subtasks", "start_step": 2212, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2302, "end_step": 2457, "id": "b6709577-0ed6-4e95-9d94-e5701060117f"}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upward and leftward toward the wooden block rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2444, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the green peg on the wooden rack and fits it down onto the peg."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hollow block on the block set peg, with fingers opening from a closed position."}, {"label": "goal", "start_step": 2458, "end_step": 2595, "id": "bcefbabe-6424-4d28-9fc7-ac4f1b4b90f7"}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2571, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "goal", "start_step": 2596, "end_step": 2748, "id": "8227272a-56bd-467d-b94a-f6a1ac25f21a"}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2721, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical rod and inserts the block downward along the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper block set area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 2749, "end_step": 2847, "id": "34f5a96f-e520-4196-aa3c-cc0d519342a3"}, {"label": "subtasks", "start_step": 2790, "end_step": 2864, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench 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": 2848, "end_step": 2970, "id": "20f77747-7a88-4e37-bf3c-601c6774c6cc"}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple rod on the rack."}, {"label": "subtasks", "start_step": 2895, "end_step": 2954, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2970, "end_step": 2984, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: retreat: Right hand retreats upward away from the white block on the purple rod."}, {"label": "goal", "start_step": 2971, "end_step": 4512, "id": "3a5fcce2-eeda-446a-86da-b2bac5669353"}, {"label": "subtasks", "start_step": 2985, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 3060, "end_step": 3081, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3127, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3128, "end_step": 3284, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns and fits the green cube onto a white bottle, making small adjustments to the cube's position during mating."}, {"label": "subtasks", "start_step": 3285, "end_step": 3299, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube upward off the top of the white bottle."}, {"label": "subtasks", "start_step": 3300, "end_step": 3337, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube downward to the table and places it on the table surface."}, {"label": "subtasks", "start_step": 3338, "end_step": 3351, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 3352, "end_step": 3374, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3375, "end_step": 3471, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 3472, "end_step": 3487, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube up from the table surface."}, {"label": "subtasks", "start_step": 3488, "end_step": 3517, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3518, "end_step": 4154, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand adjusts the green cube on a white bottle for mating, and releases its grip causing the cube to fall onto the table."}, {"label": "subtasks", "start_step": 4155, "end_step": 4221, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 4222, "end_step": 4327, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 4328, "end_step": 4341, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube slightly off the table surface."}, {"label": "subtasks", "start_step": 4342, "end_step": 4394, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube slightly and places it back on the table surface."}, {"label": "subtasks", "start_step": 4395, "end_step": 4409, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 4410, "end_step": 4499, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 4500, "end_step": 4537, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 4513, "end_step": 4658, "id": "e27a5212-99d6-4fce-a0ed-ff53dd4aa98c"}, {"label": "subtasks", "start_step": 4538, "end_step": 4567, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block from the dark table to the position above the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4568, "end_step": 4611, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped bottle by aligning the block's hole with the bottle top and lowering it onto the bottle."}, {"label": "subtasks", "start_step": 4612, "end_step": 4664, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block on the purple-topped bottle without moving."}, {"label": "home", "start_step": 4686, "end_step": 4715, "id": "wnT_pQHvQMUAAfo2EgKn6"}], "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 workbench without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block located on the left side of the wooden pegboard."}, {"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 workbench without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left of the wooden pegboard, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green cubic block from the dark table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand fits the green cubic block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening to separate from the block."}, {"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 workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left-front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front-left area of the table."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it backward and upward to above the front-left purple peg on the wooden board."}, {"label": "subtasks", "start_step": 525, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg and inserts it downward onto the peg, adjusting the part's position during assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening to release the grip."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downwards from the wooden base area toward the white hexagonal block on the left side of the workbench surface."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench surface without any observable movement."}, {"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 workbench 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": 915, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 938, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the wooden rack and moves it downward along the rod for assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the middle purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release_reach: Right hand releases the white hexagonal block from the middle purple peg and moves downward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: push: Right hand pushes the fallen white hexagonal block leftward across the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1717, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench 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": 1718, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning the part's hole with the peg and lowering it to fit in place."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hexagonal part fitted on the purple peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple rod and releases 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 workbench without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1920, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the position above the wooden peg board."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden board."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white hollow block with the post on the green block of the block tower and releases it."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table below the block tower."}, {"label": "subtasks", "start_step": 2212, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upward and leftward toward the wooden block rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2444, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the green peg on the wooden rack and fits it down onto the peg."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hollow block on the block set peg, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2571, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2721, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical rod and inserts the block downward along the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper block set area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 2864, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench 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": 2865, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple rod on the rack."}, {"label": "subtasks", "start_step": 2895, "end_step": 2954, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2970, "end_step": 2984, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: retreat: Right hand retreats upward away from the white block on the purple rod."}, {"label": "subtasks", "start_step": 2985, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 3060, "end_step": 3081, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3127, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3128, "end_step": 3284, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns and fits the green cube onto a white bottle, making small adjustments to the cube's position during mating."}, {"label": "subtasks", "start_step": 3285, "end_step": 3299, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube upward off the top of the white bottle."}, {"label": "subtasks", "start_step": 3300, "end_step": 3337, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube downward to the table and places it on the table surface."}, {"label": "subtasks", "start_step": 3338, "end_step": 3351, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 3352, "end_step": 3374, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3375, "end_step": 3471, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 3472, "end_step": 3487, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube up from the table surface."}, {"label": "subtasks", "start_step": 3488, "end_step": 3517, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3518, "end_step": 4154, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand adjusts the green cube on a white bottle for mating, and releases its grip causing the cube to fall onto the table."}, {"label": "subtasks", "start_step": 4155, "end_step": 4221, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 4222, "end_step": 4327, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 4328, "end_step": 4341, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube slightly off the table surface."}, {"label": "subtasks", "start_step": 4342, "end_step": 4394, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube slightly and places it back on the table surface."}, {"label": "subtasks", "start_step": 4395, "end_step": 4409, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 4410, "end_step": 4499, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 4500, "end_step": 4537, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 4538, "end_step": 4567, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block from the dark table to the position above the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4568, "end_step": 4611, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped bottle by aligning the block's hole with the bottle top and lowering it onto the bottle."}, {"label": "subtasks", "start_step": 4612, "end_step": 4664, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block on the purple-topped bottle without moving."}], "episode_index": 15}
+{"source_uid": "7ebd8556fe83244d", "num_frames": 3224, "annotation_status": "loaded", "has_annotation": true, "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 forward from the right side of the table towards the green block on the table in front of the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 218, "id": "d90765a8-147e-4bce-afd0-8d583834d1d6"}, {"label": "valid", "start_step": 0, "end_step": 3188, "id": "Tm1upEKHnPT66Rhxtj-OL"}, {"label": "subtasks", "start_step": 120, "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 contacts the green block and adjusts fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 219, "end_step": 365, "id": "17ebb417-9d6d-4b39-80ff-65d73c71cab4"}, {"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 block from the table and moves it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 359, "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 presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 360, "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: release: Right hand releases the green block that is now mounted on the purple peg."}, {"label": "goal", "start_step": 366, "end_step": 464, "id": "bc1d80d7-47b6-448d-a38a-856444c071d5"}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00006", "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 object placed on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "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 hexagonal block on the black table."}, {"label": "goal", "start_step": 465, "end_step": 686, "id": "4c854bbe-9068-4cbd-a297-904da9f825d0"}, {"label": "subtasks", "start_step": 488, "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_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "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 leftmost purple post and fits the block onto the post."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00011", "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 post to the bottom position."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "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 downwards towards the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 687, "end_step": 815, "id": "50b22b0c-b280-4e42-ad22-e0ebf0482534"}, {"label": "subtasks", "start_step": 735, "end_step": 779, "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 object on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "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 object on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "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 adjusts its grasp on the white cube placed on the black table surface."}, {"label": "goal", "start_step": 816, "end_step": 953, "id": "42bf9d6e-dd8e-43dc-abe8-10de0bfb34d3"}, {"label": "subtasks", "start_step": 832, "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_transport: Right hand lifts the white cube off the table and moves it towards the target purple rod on the storage rack."}, {"label": "subtasks", "start_step": 855, "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: mate: Right hand aligns the white cube with the purple rod and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "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 top of the stacked blocks on the wooden base."}, {"label": "goal", "start_step": 954, "end_step": 1103, "id": "f2bab397-14b6-49c9-8c63-36a04be0bfa0"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "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 small white object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1131, "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 small white object on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1104, "end_step": 1253, "id": "070fecd1-bfff-4c8d-b94a-388770cdf3b5"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "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 rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00024", "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 fix it tightly in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "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 assembly base toward the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1254, "end_step": 1355, "id": "6863ac6a-2a11-4684-9c2c-ec28467ea1d0"}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustments to stabilize the block."}, {"label": "goal", "start_step": 1356, "end_step": 1532, "id": "7878435d-d9bd-446b-ac92-c17cce600688"}, {"label": "subtasks", "start_step": 1380, "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: lift_transport: Right hand lifts the green square block off the tabletop and moves it towards the purple rod on the wooden 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 table without moving. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target purple rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green square block along the purple rod until it rests stably on the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "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 white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1533, "end_step": 1838, "id": "de2ce57f-7a8c-45d4-bd08-23e484ba7b64"}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "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 white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the held white hexagonal block to adjust its orientation, with little position change."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "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 reoriented white hexagonal block without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 1839, "end_step": 2180, "id": "19a85aee-c84a-4f15-aa30-01f1704af181"}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "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 cylindrical block with the target peg on the wooden base for insertion."}, {"label": "subtasks", "start_step": 1928, "end_step": 2174, "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 white cylindrical block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "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 cylindrical block and moves slightly away from the peg."}, {"label": "goal", "start_step": 2181, "end_step": 2306, "id": "8eacd8a6-c666-4f9d-be2b-443cb0872d15"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward empty, approaching the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "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 fingers to grasp the white cylindrical block on the table, with slight hand posture adjustment to stabilize the grip."}, {"label": "goal", "start_step": 2307, "end_step": 2465, "id": "15cd0c9e-70f3-4cb9-841a-3170c3ef0d46"}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00043", "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 downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2460, "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: reach: Right hand moves toward the white hexagonal block on the desktop."}, {"label": "goal", "start_step": 2466, "end_step": 2561, "id": "a1d46698-5ec9-4a11-81e7-0b56acbb70e4"}, {"label": "subtasks", "start_step": 2498, "end_step": 2579, "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 adjusts fingers to grasp the white hexagonal block on the desktop."}, {"label": "goal", "start_step": 2562, "end_step": 2828, "id": "91271e97-93a2-4cc7-8882-e849195b8a11"}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the tabletop and moves it to the position above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00047", "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 block onto the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2819, "id": "reasoning-language-00048", "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 block downwards to secure it in the slot of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2820, "end_step": 2849, "id": "reasoning-language-00049", "text": "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 with purple top onto the wooden block rack."}, {"label": "goal", "start_step": 2829, "end_step": 2945, "id": "00285fc2-dcd7-4c23-83b8-64a355d68916"}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "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 green cube on the black table."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "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 green cube on the black table."}, {"label": "goal", "start_step": 2946, "end_step": 3161, "id": "69d6bc4f-ef60-40a5-bb48-1ee24b51c093"}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "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 off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3134, "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 bottle with purple cap and inserts it onto the bottle to finish assembly."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "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 opens its fingers to release the green block."}, {"label": "home", "start_step": 3189, "end_step": 3223, "id": "Zd3q2e0E2oFtUwN7otDzE"}], "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 forward from the right side of the table towards the green block on the table in front of the left side of the wooden rack."}, {"label": "subtasks", "start_step": 120, "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 contacts the green block and adjusts fingers to establish a stable grasp on the block."}, {"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 block from the table and moves it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 359, "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 presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 360, "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: release: Right hand releases the green block that is now mounted on the purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00006", "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 object placed on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "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 hexagonal block on the black table."}, {"label": "subtasks", "start_step": 488, "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_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "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 leftmost purple post and fits the block onto the post."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00011", "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 post to the bottom position."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "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 downwards towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "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 object on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "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 object on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "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 adjusts its grasp on the white cube placed on the black table surface."}, {"label": "subtasks", "start_step": 832, "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_transport: Right hand lifts the white cube off the table and moves it towards the target purple rod on the storage rack."}, {"label": "subtasks", "start_step": 855, "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: mate: Right hand aligns the white cube with the purple rod and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "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 top of the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "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 small white object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1131, "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 small white object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "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 rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00024", "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 fix it tightly in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "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 assembly base toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustments to stabilize the block."}, {"label": "subtasks", "start_step": 1380, "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: lift_transport: Right hand lifts the green square block off the tabletop and moves it towards the purple rod on the wooden 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 table without moving. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target purple rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green square block along the purple rod until it rests stably on the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "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 white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the held white hexagonal block to adjust its orientation, with little position change."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "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 reoriented white hexagonal block without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "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 cylindrical block with the target peg on the wooden base for insertion."}, {"label": "subtasks", "start_step": 1928, "end_step": 2174, "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 white cylindrical block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "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 cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward empty, approaching the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "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 fingers to grasp the white cylindrical block on the table, with slight hand posture adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00043", "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 downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2460, "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: reach: Right hand moves toward the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 2498, "end_step": 2579, "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 adjusts fingers to grasp the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the tabletop and moves it to the position above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00047", "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 block onto the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2819, "id": "reasoning-language-00048", "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 block downwards to secure it in the slot of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2820, "end_step": 2849, "id": "reasoning-language-00049", "text": "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 with purple top onto the wooden block rack."}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "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 green cube on the black table."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "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 green cube on the black table."}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "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 off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3134, "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 bottle with purple cap and inserts it onto the bottle to finish assembly."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "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 opens its fingers to release the green block."}], "episode_index": 16}
+{"source_uid": "597e4a4ed9928f16", "num_frames": 3890, "annotation_status": "loaded", "has_annotation": true, "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 with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side of the table downward and leftward toward the green hexagonal block placed in front of the wooden pegboard, with fingers held extended."}, {"label": "goal", "start_step": 0, "end_step": 213, "id": "00bf2e36-8576-4bf4-a568-f2a99943e66a"}, {"label": "valid", "start_step": 0, "end_step": 3859, "id": "Db7t_oDHG3zEuQb07zwDb"}, {"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 with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and wrist orientation slightly to establish a stable grip on the block."}, {"label": "goal", "start_step": 214, "end_step": 387, "id": "f6cf3570-a2f8-431c-836b-4453fa013f01"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist 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 the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green block, moves it downward along the leftmost purple peg to the wooden base, and opens fingers to release the block onto the base."}, {"label": "goal", "start_step": 388, "end_step": 477, "id": "85a3048a-4b02-4c34-aa07-ec7f0e405339"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward from the pegboard area toward the front-left white hexagonal block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 428, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block, closes fingers around the block and makes small positional adjustments to establish a stable grip."}, {"label": "goal", "start_step": 478, "end_step": 819, "id": "59e2fa26-a611-4feb-b52f-38cc12eeb9f5"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward until it is completely separated from the dark table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward through the air to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple peg and fits the nut onto the peg to begin assembly."}, {"label": "subtasks", "start_step": 578, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: press: Right hand applies downward pressure on the white hexagonal nut, making small orientation adjustments to slide the nut further down the purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the leftmost white hexagonal block on the dark table surface, with fingers slightly spread."}, {"label": "goal", "start_step": 820, "end_step": 978, "id": "977cdbc9-deb4-4259-b5d7-176b5b68d511"}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving, maintaining a stable, motionless grip."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 979, "end_step": 1260, "id": "830845a3-3f71-4807-85e2-47ba77b7db16"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1297, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and moves the block downward to fit it onto the rod."}, {"label": "goal", "start_step": 1261, "end_step": 1383, "id": "15fd976b-685b-49a8-b8b3-4b0b6ffe5b10"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden stand area toward the white hexagonal block placed on the table in front of the stand, with no contact made to the target block yet."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block and makes slight wrist and finger adjustments to establish a stable grip, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1384, "end_step": 1560, "id": "15e626fa-0a87-4903-85b0-1200b0d2d808"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1544, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand makes slight positional and orientational adjustments to the white hexagonal cylinder to align its central hole with the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal cylinder down along the purple peg until it rests stably on the supporting block below on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the black table surface, with fingers kept open."}, {"label": "goal", "start_step": 1561, "end_step": 1755, "id": "730d7522-b790-40e4-84af-6545b8921774"}, {"label": "subtasks", "start_step": 1598, "end_step": 1769, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger and wrist positions around the green hexagonal block, closing fingers gradually to attempt establishing a stable grip on the block."}, {"label": "goal", "start_step": 1756, "end_step": 1911, "id": "dc5927cd-4950-415f-a428-d8db89665709"}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns and presses it down to fit onto the purple rod of the wooden block base."}, {"label": "goal", "start_step": 1912, "end_step": 2010, "id": "f4783581-01d4-4fa1-a8b8-dc2351a5aea7"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base area, approaching the white hexagonal block placed on the table near the loose green block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block with minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block is fully separated from the dark work surface."}, {"label": "goal", "start_step": 2011, "end_step": 2190, "id": "b77a164b-65f5-42e7-8866-76f84e21f748"}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts its position slightly, and lowers it to fit 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 workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked blocks on the wooden base, fingers gradually opening to separate fully from the block."}, {"label": "goal", "start_step": 2191, "end_step": 2328, "id": "61551c9e-92b4-478d-bbe7-28c775b88b4d"}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block placed near the wooden base without touching the block."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger position adjustments to establish a grasp, while the block stays stationary on the table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 2329, "end_step": 2472, "id": "3085f243-5152-4468-893b-9af8dc85f495"}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand moves downward to place the grasped white hexagonal block onto the base of the purple rod on the wooden pegboard, until the block is fully supported by the base."}, {"label": "goal", "start_step": 2473, "end_step": 2589, "id": "a73f52ec-cf23-4251-8272-ed0f02ad9772"}, {"label": "subtasks", "start_step": 2482, "end_step": 2497, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod base, separating fingers from the block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2527, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty rightward and downward toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making small finger adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block steadily on the right side of the table surface without observable movement."}, {"label": "goal", "start_step": 2590, "end_step": 2733, "id": "c2b4e223-6f1e-4349-be45-1f9fa5b7a3f4"}, {"label": "subtasks", "start_step": 2602, "end_step": 2654, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2655, "end_step": 2729, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden block holder and moves it downward to insert the block into the slot."}, {"label": "subtasks", "start_step": 2730, "end_step": 2797, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the upper area of the wooden bottle rack downward and rightward toward the green cube placed on the dark table surface."}, {"label": "goal", "start_step": 2734, "end_step": 3342, "id": "c6745973-8fc5-411c-905c-89e60caddc79"}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cube on the dark table surface to form a stable grip, with the cube remaining in contact with the table."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube upward and leftward through the air to position it directly above the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2888, "end_step": 3021, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the grasped green cube to align its central hole with the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3022, "end_step": 3194, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green cube above the purple-topped bottle on the wooden rack without any observable movement of the hand or the cube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3247, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube downward and rightward through the air away from the bottle rack, moving back toward the green cube's original position on the table."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the green cube until it rests stably on the dark table surface, opening its fingers to release the grip on the cube."}, {"label": "subtasks", "start_step": 3270, "end_step": 3291, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty a short distance away from the green cube resting on the table surface."}, {"label": "subtasks", "start_step": 3292, "end_step": 3329, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: idle: Right hand remains empty at a position adjacent to the green cube on the table, with no observable movement."}, {"label": "subtasks", "start_step": 3330, "end_step": 3367, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 3343, "end_step": 3834, "id": "19b7fba5-9e53-4945-a233-f4d5a642f311"}, {"label": "subtasks", "start_step": 3368, "end_step": 3381, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the green hexagonal block upward to completely raise it off the table surface."}, {"label": "subtasks", "start_step": 3382, "end_step": 3427, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the held green hexagonal block upward and forward to position it above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 3428, "end_step": 3584, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block stationary in the air directly above the purple peg on the wooden stand without moving."}, {"label": "subtasks", "start_step": 3585, "end_step": 3607, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 3608, "end_step": 3794, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted green hexagonal block on the purple peg without any visible movement or adjustment."}, {"label": "subtasks", "start_step": 3795, "end_step": 3839, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the grip on the green hexagonal block resting on the purple peg."}, {"label": "home", "start_step": 3860, "end_step": 3889, "id": "ua_f10J7I7WP997SKJULy"}], "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 with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side of the table downward and leftward toward the green hexagonal block placed in front of the wooden pegboard, with fingers held extended."}, {"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 with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and wrist orientation slightly to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist 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 the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green block, moves it downward along the leftmost purple peg to the wooden base, and opens fingers to release the block onto the base."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward from the pegboard area toward the front-left white hexagonal block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 428, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block, closes fingers around the block and makes small positional adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward until it is completely separated from the dark table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward through the air to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple peg and fits the nut onto the peg to begin assembly."}, {"label": "subtasks", "start_step": 578, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: press: Right hand applies downward pressure on the white hexagonal nut, making small orientation adjustments to slide the nut further down the purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the leftmost white hexagonal block on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving, maintaining a stable, motionless grip."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1297, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden stand area toward the white hexagonal block placed on the table in front of the stand, with no contact made to the target block yet."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block and makes slight wrist and finger adjustments to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1544, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand makes slight positional and orientational adjustments to the white hexagonal cylinder to align its central hole with the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal cylinder down along the purple peg until it rests stably on the supporting block below on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 1598, "end_step": 1769, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger and wrist positions around the green hexagonal block, closing fingers gradually to attempt establishing a stable grip on the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns and presses it down to fit onto the purple rod of the wooden block base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base area, approaching the white hexagonal block placed on the table near the loose green block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block with minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block is fully separated from the dark work surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts its position slightly, and lowers it to fit 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 workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked blocks on the wooden base, fingers gradually opening to separate fully from the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block placed near the wooden base without touching the block."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger position adjustments to establish a grasp, while the block stays stationary on the table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand moves downward to place the grasped white hexagonal block onto the base of the purple rod on the wooden pegboard, until the block is fully supported by the base."}, {"label": "subtasks", "start_step": 2482, "end_step": 2497, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod base, separating fingers from the block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2527, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty rightward and downward toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making small finger adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block steadily on the right side of the table surface without observable movement."}, {"label": "subtasks", "start_step": 2602, "end_step": 2654, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2655, "end_step": 2729, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden block holder and moves it downward to insert the block into the slot."}, {"label": "subtasks", "start_step": 2730, "end_step": 2797, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the upper area of the wooden bottle rack downward and rightward toward the green cube placed on the dark table surface."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cube on the dark table surface to form a stable grip, with the cube remaining in contact with the table."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube upward and leftward through the air to position it directly above the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2888, "end_step": 3021, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the grasped green cube to align its central hole with the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3022, "end_step": 3194, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green cube above the purple-topped bottle on the wooden rack without any observable movement of the hand or the cube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3247, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube downward and rightward through the air away from the bottle rack, moving back toward the green cube's original position on the table."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the green cube until it rests stably on the dark table surface, opening its fingers to release the grip on the cube."}, {"label": "subtasks", "start_step": 3270, "end_step": 3291, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty a short distance away from the green cube resting on the table surface."}, {"label": "subtasks", "start_step": 3292, "end_step": 3329, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: idle: Right hand remains empty at a position adjacent to the green cube on the table, with no observable movement."}, {"label": "subtasks", "start_step": 3330, "end_step": 3367, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 3368, "end_step": 3381, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the green hexagonal block upward to completely raise it off the table surface."}, {"label": "subtasks", "start_step": 3382, "end_step": 3427, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the held green hexagonal block upward and forward to position it above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 3428, "end_step": 3584, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block stationary in the air directly above the purple peg on the wooden stand without moving."}, {"label": "subtasks", "start_step": 3585, "end_step": 3607, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 3608, "end_step": 3794, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted green hexagonal block on the purple peg without any visible movement or adjustment."}, {"label": "subtasks", "start_step": 3795, "end_step": 3839, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the grip on the green hexagonal block resting on the purple peg."}], "episode_index": 17}
+{"source_uid": "3c914e601ce8a771", "num_frames": 4033, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the black table surface, without touching the block."}, {"label": "goal", "start_step": 0, "end_step": 889, "id": "9a7f0f4c-0215-478c-9b78-dcfa7b966059"}, {"label": "valid", "start_step": 0, "end_step": 4001, "id": "XOZ_JdMEMu0hy57S7dJ1V"}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "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 hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "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 hexagonal block upward and leftward toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "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 hexagonal block onto the leftmost purple peg, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "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 green hexagonal block that has fallen onto the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "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 green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 884, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand reorients the green hexagonal block on the black table, rotating the block to adjust its posture while its position remains mostly unchanged."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "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 green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 890, "end_step": 1027, "id": "7a6ca938-c669-439c-bbee-1de6b445b342"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 green cubic block upward off the dark table surface and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "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 green cubic block with the leftmost purple peg and lowers it along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "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 green cubic block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1028, "end_step": 1300, "id": "03d05efe-7901-407f-bbdd-27a60c229358"}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "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 toward the white hexagonal block on the table directly below the leftmost purple rod, keeping empty."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "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 closing and adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the white hexagonal block and moves it upward to align and fit onto the leftmost purple rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1301, "end_step": 1459, "id": "4645c931-5891-4cd0-aff2-2dd3d6cbaab2"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and leftward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1454, "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 hole of the white hexagonal block with the leftmost purple peg and inserts the block downward along the peg to assemble with the green block below."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "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 by opening its fingers and moving slightly upward."}, {"label": "goal", "start_step": 1460, "end_step": 1570, "id": "30a01df9-89ac-4168-ab25-a34d6e865f21"}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "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 dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "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 dark table surface with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1571, "end_step": 1750, "id": "f9f0d3a9-ced6-4a97-b4b8-d63c08af5ffa"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece off the black table surface."}, {"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 table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and toward the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 1739, "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 piece with a purple peg on the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the frontmost purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1751, "end_step": 1873, "id": "f1285740-f6c5-4407-841b-9e0eecff69ea"}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "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 white hexagonal block on the table above the green square block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "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 white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00031", "text": "Left hand: 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": 1860, "end_step": 1889, "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 next to the green block, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1874, "end_step": 2038, "id": "b5076fed-1ebd-425e-863f-485c50618d6f"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "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 white hexagonal block on the table next to the green block without moving."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "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 white hexagonal block onto the purple peg on the wooden board, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00036", "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 cubic block onto the middle purple peg of the wooden base, then opens fingers to release the block."}, {"label": "goal", "start_step": 2039, "end_step": 2158, "id": "f8a23d23-54c2-4525-9002-a16ca097c235"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg assembly area toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2181, "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 green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2159, "end_step": 2308, "id": "499ed6c5-6660-412f-b4a7-052dd291e4c0"}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "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 and transports the green hexagonal block from the table to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "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 green hexagonal block with the target vertical peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "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 green hexagonal block fitted on the target peg without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white block onto the purple vertical rod on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 2309, "end_step": 2407, "id": "37a2a9c5-46b1-4385-b7da-f0412be248f7"}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2362, "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: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2408, "end_step": 2560, "id": "ddbdb51e-c7ba-4719-846d-f66fbb9ebdbb"}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "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 hollow cylinder off the table and transports it toward the peg board at the back of the frame."}, {"label": "subtasks", "start_step": 2452, "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: mate: Right hand mates the white hollow cylinder with the peg on the peg board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2490, "end_step": 2549, "id": "reasoning-language-00047", "text": "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 peg of the board without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block with the purple vertical rod and releases its grasp."}, {"label": "goal", "start_step": 2561, "end_step": 2668, "id": "edce2e1b-bae2-41c7-bd38-d439da998608"}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2625, "end_step": 2684, "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 cylindrical block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 2669, "end_step": 2818, "id": "dd775d7e-3b56-4b98-a984-fa254b848501"}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "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 hollow block off the table and moves it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2797, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod on the wooden rack and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2798, "end_step": 2804, "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 white hollow block on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2805, "end_step": 2841, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand adjusts the white block on the purple rod to complete assembly, then releases the block."}, {"label": "goal", "start_step": 2819, "end_step": 3514, "id": "6d2e2968-45f1-426c-9b5c-ad555d2f8c18"}, {"label": "subtasks", "start_step": 2842, "end_step": 2887, "id": "reasoning-language-00055", "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 surface."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "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 closes its fingers to grasp the white hexagonal block on the table, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 2978, "end_step": 2991, "id": "reasoning-language-00057", "text": "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 until it leaves the table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3021, "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 holds the white block and moves up and left to the position above the purple rod."}, {"label": "subtasks", "start_step": 3022, "end_step": 3119, "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 block with the purple rod, lowers it onto the rod, and adjusts the position to complete the nesting assembly."}, {"label": "subtasks", "start_step": 3120, "end_step": 3134, "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 opens its fingers to release the white block on the purple rod."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "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 moves left towards the white block on the wooden rack."}, {"label": "subtasks", "start_step": 3180, "end_step": 3239, "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 closes its fingers to grasp the white block on the wooden rack, and slightly adjusts the grip."}, {"label": "subtasks", "start_step": 3240, "end_step": 3254, "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 white block up until it leaves the support of the wooden rack."}, {"label": "subtasks", "start_step": 3255, "end_step": 3314, "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 holds the white block and moves down and right to the position above the table surface."}, {"label": "subtasks", "start_step": 3315, "end_step": 3329, "id": "reasoning-language-00065", "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 block onto the table surface until it is stably supported by the table."}, {"label": "subtasks", "start_step": 3330, "end_step": 3344, "id": "reasoning-language-00066", "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 block on the table."}, {"label": "subtasks", "start_step": 3345, "end_step": 3397, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves to the other side of the white block on the table, approaching the block again."}, {"label": "subtasks", "start_step": 3398, "end_step": 3457, "id": "reasoning-language-00068", "text": "Left hand: idle: 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 table again, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 3458, "end_step": 3509, "id": "reasoning-language-00069", "text": "Left hand: 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 any observable movement."}, {"label": "subtasks", "start_step": 3510, "end_step": 3531, "id": "reasoning-language-00070", "text": "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 right side of the table, with fingers adjusting slightly to stabilize the grip."}, {"label": "goal", "start_step": 3515, "end_step": 3679, "id": "2ccdbaca-5677-45d2-9f6d-f9ab9660af1b"}, {"label": "subtasks", "start_step": 3532, "end_step": 3561, "id": "reasoning-language-00071", "text": "Left 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 rack."}, {"label": "subtasks", "start_step": 3562, "end_step": 3674, "id": "reasoning-language-00072", "text": "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 fits it down along the rod to complete assembly."}, {"label": "subtasks", "start_step": 3675, "end_step": 3689, "id": "reasoning-language-00073", "text": "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 on the purple rod, with fingers opening and separating from the object."}, {"label": "goal", "start_step": 3680, "end_step": 3772, "id": "5f2ae61e-53b5-4f0c-b008-78055946fe23"}, {"label": "subtasks", "start_step": 3690, "end_step": 3727, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the small purple object on the top of the white bottle at the wooden rack, then reaches toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3728, "end_step": 3794, "id": "reasoning-language-00075", "text": "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 dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 3773, "end_step": 3973, "id": "dabe7053-b9a0-402e-80c4-2d8ca6c2a76c"}, {"label": "subtasks", "start_step": 3795, "end_step": 3824, "id": "reasoning-language-00076", "text": "Left 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 rack with cylindrical posts at the table center."}, {"label": "subtasks", "start_step": 3825, "end_step": 3877, "id": "reasoning-language-00077", "text": "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-right post of the white rack and inserts it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 3878, "end_step": 3974, "id": "reasoning-language-00078", "text": "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 top-right post of the white rack without moving."}, {"label": "home", "start_step": 4002, "end_step": 4032, "id": "PbK_a5rCtovamWbDM5slH"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the black table surface, without touching the block."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "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 hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "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 hexagonal block upward and leftward toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "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 hexagonal block onto the leftmost purple peg, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "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 green hexagonal block that has fallen onto the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "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 green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 884, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand reorients the green hexagonal block on the black table, rotating the block to adjust its posture while its position remains mostly unchanged."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "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 green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 green cubic block upward off the dark table surface and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "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 green cubic block with the leftmost purple peg and lowers it along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "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 green cubic block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "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 toward the white hexagonal block on the table directly below the leftmost purple rod, keeping empty."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "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 closing and adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the white hexagonal block and moves it upward to align and fit onto the leftmost purple rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and leftward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1454, "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 hole of the white hexagonal block with the leftmost purple peg and inserts the block downward along the peg to assemble with the green block below."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "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 by opening its fingers and moving slightly upward."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "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 dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "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 dark table surface with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece off the black table surface."}, {"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 table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and toward the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 1739, "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 piece with a purple peg on the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the frontmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "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 white hexagonal block on the table above the green square block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "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 white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00031", "text": "Left hand: 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": 1860, "end_step": 1889, "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 next to the green block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "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 white hexagonal block on the table next to the green block without moving."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "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 white hexagonal block onto the purple peg on the wooden board, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00036", "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 cubic block onto the middle purple peg of the wooden base, then opens fingers to release the block."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg assembly area toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2181, "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 green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "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 and transports the green hexagonal block from the table to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "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 green hexagonal block with the target vertical peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "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 green hexagonal block fitted on the target peg without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white block onto the purple vertical rod on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2362, "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: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "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 hollow cylinder off the table and transports it toward the peg board at the back of the frame."}, {"label": "subtasks", "start_step": 2452, "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: mate: Right hand mates the white hollow cylinder with the peg on the peg board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2490, "end_step": 2549, "id": "reasoning-language-00047", "text": "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 peg of the board without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block with the purple vertical rod and releases its grasp."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2625, "end_step": 2684, "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 cylindrical block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "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 hollow block off the table and moves it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2797, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod on the wooden rack and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2798, "end_step": 2804, "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 white hollow block on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2805, "end_step": 2841, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand adjusts the white block on the purple rod to complete assembly, then releases the block."}, {"label": "subtasks", "start_step": 2842, "end_step": 2887, "id": "reasoning-language-00055", "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 surface."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "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 closes its fingers to grasp the white hexagonal block on the table, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 2978, "end_step": 2991, "id": "reasoning-language-00057", "text": "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 until it leaves the table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3021, "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 holds the white block and moves up and left to the position above the purple rod."}, {"label": "subtasks", "start_step": 3022, "end_step": 3119, "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 block with the purple rod, lowers it onto the rod, and adjusts the position to complete the nesting assembly."}, {"label": "subtasks", "start_step": 3120, "end_step": 3134, "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 opens its fingers to release the white block on the purple rod."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "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 moves left towards the white block on the wooden rack."}, {"label": "subtasks", "start_step": 3180, "end_step": 3239, "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 closes its fingers to grasp the white block on the wooden rack, and slightly adjusts the grip."}, {"label": "subtasks", "start_step": 3240, "end_step": 3254, "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 white block up until it leaves the support of the wooden rack."}, {"label": "subtasks", "start_step": 3255, "end_step": 3314, "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 holds the white block and moves down and right to the position above the table surface."}, {"label": "subtasks", "start_step": 3315, "end_step": 3329, "id": "reasoning-language-00065", "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 block onto the table surface until it is stably supported by the table."}, {"label": "subtasks", "start_step": 3330, "end_step": 3344, "id": "reasoning-language-00066", "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 block on the table."}, {"label": "subtasks", "start_step": 3345, "end_step": 3397, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves to the other side of the white block on the table, approaching the block again."}, {"label": "subtasks", "start_step": 3398, "end_step": 3457, "id": "reasoning-language-00068", "text": "Left hand: idle: 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 table again, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 3458, "end_step": 3509, "id": "reasoning-language-00069", "text": "Left hand: 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 any observable movement."}, {"label": "subtasks", "start_step": 3510, "end_step": 3531, "id": "reasoning-language-00070", "text": "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 right side of the table, with fingers adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 3532, "end_step": 3561, "id": "reasoning-language-00071", "text": "Left 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 rack."}, {"label": "subtasks", "start_step": 3562, "end_step": 3674, "id": "reasoning-language-00072", "text": "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 fits it down along the rod to complete assembly."}, {"label": "subtasks", "start_step": 3675, "end_step": 3689, "id": "reasoning-language-00073", "text": "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 on the purple rod, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 3690, "end_step": 3727, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the small purple object on the top of the white bottle at the wooden rack, then reaches toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3728, "end_step": 3794, "id": "reasoning-language-00075", "text": "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 dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3795, "end_step": 3824, "id": "reasoning-language-00076", "text": "Left 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 rack with cylindrical posts at the table center."}, {"label": "subtasks", "start_step": 3825, "end_step": 3877, "id": "reasoning-language-00077", "text": "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-right post of the white rack and inserts it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 3878, "end_step": 3974, "id": "reasoning-language-00078", "text": "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 top-right post of the white rack without moving."}], "episode_index": 18}
+{"source_uid": "88c950aabb07f750", "num_frames": 3493, "annotation_status": "loaded", "has_annotation": true, "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 block located at the top left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 165, "id": "5be79ace-0317-47de-b72c-363c367c8d5e"}, {"label": "valid", "start_step": 0, "end_step": 3461, "id": "N2pim4Okn5F3tXcNJ0yaO"}, {"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 table without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to form a stable grasp on the white block at the top left of the wooden base."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards away from the wooden base."}, {"label": "subtasks", "start_step": 165, "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: grasp: Right hand adjusts fingers to stably grasp the green cubic block on the black table surface."}, {"label": "goal", "start_step": 166, "end_step": 648, "id": "2770d055-823b-485a-8597-aa016d476229"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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 up away from the black table surface."}, {"label": "subtasks", "start_step": 202, "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: mate: Right hand aligns the green cubic block with the leftmost purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "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 cubic block down along the purple rod until it reaches the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 651, "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 cubic block and moves slightly upward."}, {"label": "goal", "start_step": 649, "end_step": 783, "id": "a2295483-42ba-4ed6-ad07-9e5e8503bc92"}, {"label": "subtasks", "start_step": 652, "end_step": 704, "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 towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand stays empty above the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "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 table."}, {"label": "goal", "start_step": 784, "end_step": 1062, "id": "081f1200-161e-4ed5-a46f-27f7eb186a48"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "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 moves it to above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 908, "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 peg to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1063, "end_step": 1239, "id": "1c86f480-3113-448b-9af1-5d148732a585"}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "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 black table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1259, "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 adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1240, "end_step": 1392, "id": "3b3d904c-04f1-4158-a25d-91c693fd45c4"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "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 table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "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 with the leftmost purple rod on the wooden base, lowering it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1393, "end_step": 1560, "id": "f934faa2-62e7-4341-96e4-9163e07596c4"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "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 fingers to grasp the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "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 off the black table surface."}, {"label": "goal", "start_step": 1561, "end_step": 1746, "id": "dbbf00ac-6a46-40ad-9359-2df6442bd305"}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 purple rod of the wooden stand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1739, "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 cylindrical block onto the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the green cube on the table."}, {"label": "goal", "start_step": 1747, "end_step": 1866, "id": "cd42ae55-9f94-4834-a9f5-a8df688df8ea"}, {"label": "subtasks", "start_step": 1800, "end_step": 1881, "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 adjusts fingers to form a stable grip on the green cube placed on the table."}, {"label": "goal", "start_step": 1867, "end_step": 2004, "id": "70a7cbf5-ca8a-457f-9044-1801a30b1d52"}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "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 block off the table and transports it towards the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "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 block with the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00030", "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 fit it onto the peg."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 block onto the rod on the wooden base."}, {"label": "goal", "start_step": 2005, "end_step": 2109, "id": "243c5976-b04e-4fdd-a87e-11a8ef415088"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2129, "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 fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 2110, "end_step": 2295, "id": "8371bd21-d417-4128-806e-dc3cc46765c1"}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "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 block upward off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "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 block toward the peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "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 target peg of the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2294, "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 white cylindrical block downward to fix it firmly on the peg."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "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 cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 2296, "end_step": 2388, "id": "569ef105-2c0e-49b3-9896-83f2c1ddd6d8"}, {"label": "subtasks", "start_step": 2325, "end_step": 2369, "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 toward the white cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "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 fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 2389, "end_step": 2550, "id": "579e383a-a2c8-4875-9570-b8c1014d85d7"}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2452, "end_step": 2549, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder fitted on the purple rod."}, {"label": "goal", "start_step": 2551, "end_step": 2673, "id": "5f32bda1-5a72-43eb-b2ed-2a6c0b62256b"}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to its lower right."}, {"label": "subtasks", "start_step": 2588, "end_step": 2684, "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 contacts the white hexagonal block and adjusts its fingers to form a stable grip."}, {"label": "goal", "start_step": 2674, "end_step": 2838, "id": "3bf2ab64-3141-40a6-a2ae-7e6272d10ef1"}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00047", "text": "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 on the top of the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2834, "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 block onto the purple post by pushing it down along the post."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "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 block on the right side of the wooden base."}, {"label": "goal", "start_step": 2839, "end_step": 2958, "id": "aff89db1-fc9b-4f2e-87fe-366ff01608a0"}, {"label": "subtasks", "start_step": 2858, "end_step": 2894, "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 green square block placed on the table."}, {"label": "subtasks", "start_step": 2895, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2959, "end_step": 3417, "id": "0f7ed2f4-f5df-43bd-8a74-ed7dff188871"}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "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 hollow block from the table and transports it towards the white cylindrical rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3037, "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 hollow block with the top white cylinder on the rack and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 3038, "end_step": 3419, "id": "reasoning-language-00054", "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 hollow block down along the white cylinder to fit it stably, then releases the block."}, {"label": "home", "start_step": 3462, "end_step": 3492, "id": "qahSHpu2KZMUR2hgjEIlO"}], "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 block located at the top left of the wooden base."}, {"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 table without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to form a stable grasp on the white block at the top left of the wooden base."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards away from the wooden base."}, {"label": "subtasks", "start_step": 165, "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: grasp: Right hand adjusts fingers to stably grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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 up away from the black table surface."}, {"label": "subtasks", "start_step": 202, "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: mate: Right hand aligns the green cubic block with the leftmost purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "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 cubic block down along the purple rod until it reaches the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 651, "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 cubic block and moves slightly upward."}, {"label": "subtasks", "start_step": 652, "end_step": 704, "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 towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand stays empty above the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "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 table."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "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 moves it to above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 908, "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 peg to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "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 black table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1259, "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 adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "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 table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "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 with the leftmost purple rod on the wooden base, lowering it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "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 fingers to grasp the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "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 off the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 purple rod of the wooden stand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1739, "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 cylindrical block onto the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the green cube on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1881, "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 adjusts fingers to form a stable grip on the green cube placed on the table."}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "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 block off the table and transports it towards the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "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 block with the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00030", "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 fit it onto the peg."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 block onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2129, "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 fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "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 block upward off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "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 block toward the peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "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 target peg of the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2294, "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 white cylindrical block downward to fix it firmly on the peg."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "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 cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2369, "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 toward the white cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "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 fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2452, "end_step": 2549, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to its lower right."}, {"label": "subtasks", "start_step": 2588, "end_step": 2684, "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 contacts the white hexagonal block and adjusts its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00047", "text": "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 on the top of the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2834, "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 block onto the purple post by pushing it down along the post."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "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 block on the right side of the wooden base."}, {"label": "subtasks", "start_step": 2858, "end_step": 2894, "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 green square block placed on the table."}, {"label": "subtasks", "start_step": 2895, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "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 hollow block from the table and transports it towards the white cylindrical rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3037, "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 hollow block with the top white cylinder on the rack and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 3038, "end_step": 3419, "id": "reasoning-language-00054", "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 hollow block down along the white cylinder to fit it stably, then releases the block."}], "episode_index": 19}
+{"source_uid": "2c9cc6a6efdf7ffe", "num_frames": 3801, "annotation_status": "loaded", "has_annotation": true, "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 with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with open fingers, showing no autonomous movement or hand shape change during this period."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "1bcc829f-849f-4cb9-bbc6-7405483af11c"}, {"label": "valid", "start_step": 0, "end_step": 3769, "id": "xhKe2EvxU8oBPvpTBXpbh"}, {"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 with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand with open fingers moves downward and leftward from its resting position toward the small object on the table in front of the wooden block base."}, {"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 with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the small target object near the green block on the table, making small finger and wrist adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 187, "end_step": 321, "id": "7db2937d-14c5-4472-a939-1c93cd150c6d"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward, completely separating it from the supporting table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block through the air toward the wooden assembly board, positioning it directly above the target left purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the left purple peg, and slides it down the peg to seat it on the existing stack of blocks as part of the assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the green block onto the purple rod of the wooden base, fingers open to release the block as it settles stably on the base."}, {"label": "goal", "start_step": 322, "end_step": 489, "id": "28f5dc3e-12d8-48d7-9177-8f1871849371"}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front left white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand fingers make slight adjusting movements while closing around the white hexagonal block to form a stable grip."}, {"label": "goal", "start_step": 490, "end_step": 612, "id": "c281101f-ff03-4a29-b90f-68c3e6b135b7"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, assembling it onto the existing green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand holds the white-topped block, lowers it onto the purple peg of the wooden assembly until the block is fully seated, then opens fingers to release the block."}, {"label": "goal", "start_step": 613, "end_step": 738, "id": "467eec47-b2fe-4b7e-bd67-71af59b59011"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves down and slightly left from the wooden assembly toward the leftmost white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the leftmost white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the leftmost white hexagonal nut on the black table surface without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 739, "end_step": 867, "id": "bd7de0ed-15cb-40ac-995f-523810ead839"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to place it onto the purple post on the wooden base."}, {"label": "goal", "start_step": 868, "end_step": 978, "id": "347f88f0-91c7-45f5-a6ec-9a09439d4db7"}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward empty to approach the white hollow block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hollow block on the table to establish a stable grip."}, {"label": "goal", "start_step": 979, "end_step": 1110, "id": "9b6496cf-dacc-4886-8677-f427ca5eefaa"}, {"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 workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block fully off the table surface and moves it upward to position it directly above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central opening of the white cylindrical block with the purple post and lowers the block to fit it onto the post, establishing the nested assembly connection."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block onto the purple vertical rod on the wooden base, releases the block, and moves fingers away from the positioned object."}, {"label": "goal", "start_step": 1111, "end_step": 1230, "id": "9b6cf2d2-7f8c-4177-ae94-ece8cdcb973c"}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the left green hexagonal block on the black table surface, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes small finger and wrist adjustments to establish contact and form a grasp on the left green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward, until the block is fully separated from the dark table surface."}, {"label": "goal", "start_step": 1231, "end_step": 1644, "id": "0549c86e-b0c0-4340-b556-84a60c8e071d"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block through the air toward the wooden assembly rack, positioning the block directly above the purple vertical rod on the rack."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the purple vertical rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1320, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand slides the green hexagonal block down the purple vertical rod, lowering it until the block rests stably on the underlying white block on the assembly rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the green hexagonal block, separating from the block which remains seated on the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand stays empty above the wooden block assembly base without any observable movement."}, {"label": "goal", "start_step": 1645, "end_step": 2673, "id": "9cb42c84-0281-48cc-a508-e11184e8e131"}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal block placed on the dark table surface to the left of the green hexagonal block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to finger positions to establish a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple vertical rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2309, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, then moves the block downward to fit onto the rod, making small positional adjustments to the block during the process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2361, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand grips the white hexagonal block on the purple rod and pulls it upward until the block is fully removed from the rod."}, {"label": "subtasks", "start_step": 2362, "end_step": 2519, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block downward, moving it back toward the area of the table where the block was originally placed."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal block downward until the block rests stably on the table surface, with fingers still holding the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the table, separating the fingers from contact with the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty near the placed white hexagonal block without any observable movement."}, {"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 workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "goal", "start_step": 2674, "end_step": 2841, "id": "7731f9c0-1a4a-424b-83af-f99aa89b18de"}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2730, "end_step": 2834, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut adjacent to the wooden assembly base, with fingers kept open."}, {"label": "goal", "start_step": 2842, "end_step": 3000, "id": "5b9a5192-f8a7-442f-b9a0-61f92c906bf8"}, {"label": "subtasks", "start_step": 2895, "end_step": 2999, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger and wrist adjustments to establish a stable grip, with the nut remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward from the dark table surface, with the block fully detaching from the table by the end of the segment."}, {"label": "goal", "start_step": 3001, "end_step": 3138, "id": "e9a1c397-249f-4a6f-a317-d194f06555a4"}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the light wooden base."}, {"label": "subtasks", "start_step": 3060, "end_step": 3127, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the purple rod, and moves the block downward along the rod until the block rests steadily on the wooden base surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3134, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block seated on the purple rod, and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface near the stacked block set."}, {"label": "goal", "start_step": 3139, "end_step": 3246, "id": "05ff3105-48dc-4ed6-bf61-62a29c91a98e"}, {"label": "subtasks", "start_step": 3180, "end_step": 3224, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 3225, "end_step": 3261, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip with the nut still resting on the table."}, {"label": "goal", "start_step": 3247, "end_step": 3384, "id": "48a6c10a-6d8e-4ef2-aa9d-0a3a7ea004ac"}, {"label": "subtasks", "start_step": 3262, "end_step": 3299, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and left toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 3300, "end_step": 3374, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 3375, "end_step": 3381, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3382, "end_step": 3389, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 3385, "end_step": 3528, "id": "018465a7-b640-4592-b045-2596c103bd43"}, {"label": "subtasks", "start_step": 3390, "end_step": 3441, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3442, "end_step": 3547, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make slight adjustments to establish a grip on the block, which remains on the table surface."}, {"label": "goal", "start_step": 3529, "end_step": 3729, "id": "32d06eb6-b344-41b6-873f-e1393f912f74"}, {"label": "subtasks", "start_step": 3548, "end_step": 3561, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand moves vertically upward to lift the green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 3562, "end_step": 3599, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward to the position directly above the target white peg on the wooden block stand."}, {"label": "subtasks", "start_step": 3600, "end_step": 3734, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the target white peg on the wooden stand, moves downward to fit the block onto the peg to establish the assembly connection."}, {"label": "home", "start_step": 3770, "end_step": 3800, "id": "givHpxhwpaypR9MUsMTyN"}], "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 with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with open fingers, showing no autonomous movement or hand shape change during this period."}, {"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 with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand with open fingers moves downward and leftward from its resting position toward the small object on the table in front of the wooden block base."}, {"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 with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the small target object near the green block on the table, making small finger and wrist adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward, completely separating it from the supporting table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block through the air toward the wooden assembly board, positioning it directly above the target left purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the left purple peg, and slides it down the peg to seat it on the existing stack of blocks as part of the assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the green block onto the purple rod of the wooden base, fingers open to release the block as it settles stably on the base."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front left white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand fingers make slight adjusting movements while closing around the white hexagonal block to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, assembling it onto the existing green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand holds the white-topped block, lowers it onto the purple peg of the wooden assembly until the block is fully seated, then opens fingers to release the block."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves down and slightly left from the wooden assembly toward the leftmost white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the leftmost white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the leftmost white hexagonal nut on the black table surface without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to place it onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward empty to approach the white hollow block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hollow block on the table to establish a stable grip."}, {"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 workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block fully off the table surface and moves it upward to position it directly above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central opening of the white cylindrical block with the purple post and lowers the block to fit it onto the post, establishing the nested assembly connection."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block onto the purple vertical rod on the wooden base, releases the block, and moves fingers away from the positioned object."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the left green hexagonal block on the black table surface, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes small finger and wrist adjustments to establish contact and form a grasp on the left green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward, until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block through the air toward the wooden assembly rack, positioning the block directly above the purple vertical rod on the rack."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the purple vertical rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1320, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand slides the green hexagonal block down the purple vertical rod, lowering it until the block rests stably on the underlying white block on the assembly rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the green hexagonal block, separating from the block which remains seated on the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand stays empty above the wooden block assembly base without any observable movement."}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal block placed on the dark table surface to the left of the green hexagonal block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to finger positions to establish a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple vertical rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2309, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, then moves the block downward to fit onto the rod, making small positional adjustments to the block during the process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2361, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand grips the white hexagonal block on the purple rod and pulls it upward until the block is fully removed from the rod."}, {"label": "subtasks", "start_step": 2362, "end_step": 2519, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block downward, moving it back toward the area of the table where the block was originally placed."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal block downward until the block rests stably on the table surface, with fingers still holding the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the table, separating the fingers from contact with the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty near the placed white hexagonal block without any observable movement."}, {"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 workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2730, "end_step": 2834, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut adjacent to the wooden assembly base, with fingers kept open."}, {"label": "subtasks", "start_step": 2895, "end_step": 2999, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger and wrist adjustments to establish a stable grip, with the nut remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward from the dark table surface, with the block fully detaching from the table by the end of the segment."}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the light wooden base."}, {"label": "subtasks", "start_step": 3060, "end_step": 3127, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the purple rod, and moves the block downward along the rod until the block rests steadily on the wooden base surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3134, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block seated on the purple rod, and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface near the stacked block set."}, {"label": "subtasks", "start_step": 3180, "end_step": 3224, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 3225, "end_step": 3261, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip with the nut still resting on the table."}, {"label": "subtasks", "start_step": 3262, "end_step": 3299, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and left toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 3300, "end_step": 3374, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 3375, "end_step": 3381, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3382, "end_step": 3389, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 3390, "end_step": 3441, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3442, "end_step": 3547, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make slight adjustments to establish a grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 3548, "end_step": 3561, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand moves vertically upward to lift the green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 3562, "end_step": 3599, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward to the position directly above the target white peg on the wooden block stand."}, {"label": "subtasks", "start_step": 3600, "end_step": 3734, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the target white peg on the wooden stand, moves downward to fit the block onto the peg to establish the assembly connection."}], "episode_index": 20}
+{"source_uid": "06018246045d8e7e", "num_frames": 2949, "annotation_status": "loaded", "has_annotation": true, "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 home position and stops, remaining empty with fingers slightly open. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 234, "id": "0061639f-5a6f-4bee-b956-d9a411ef0765"}, {"label": "valid", "start_step": 0, "end_step": 2917, "id": "aQbV-hsNzulMmkgb_VXpW"}, {"label": "subtasks", "start_step": 38, "end_step": 127, "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 leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "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 grasps the green cubic block on the left side of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00004", "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 cubic block on the left side of the table without moving, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "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 hexagonal block on the table to the left of the wooden base, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 235, "end_step": 477, "id": "128d6c9e-416b-479e-8723-06df0b1ea4f5"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "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 hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 464, "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 hexagonal block onto the leftmost purple peg of the wooden base, lowering it along the peg until it reaches the wooden base plate."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00008", "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 leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 478, "end_step": 645, "id": "2026574e-cc87-4d2c-9804-029f671ed391"}, {"label": "subtasks", "start_step": 495, "end_step": 531, "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 down and left to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "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 grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "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 black table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "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 part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 646, "end_step": 786, "id": "aee15d8b-274a-47e0-acbe-a4d2eb2be3e0"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "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 part from the table and transports it upward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "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 part with the purple peg on the wooden board and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 787, "end_step": 912, "id": "4ebc8ae9-5d7a-49f9-ae6b-6d34f4921c5f"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00016", "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 leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00017", "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 leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "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 leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 grasps the white hexagonal block on the black table surface, with fingers adjusting slightly to stabilize the grip."}, {"label": "goal", "start_step": 913, "end_step": 1143, "id": "c174867f-e87b-4dc0-ac74-9c6c611df90a"}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00021", "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 off the table and transports it to above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 990, "end_step": 1117, "id": "reasoning-language-00022", "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 hexagonal block onto the leftmost peg of the pegboard by aligning the hole and inserting it downward."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00023", "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 leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "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-left of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1144, "end_step": 1239, "id": "b92a98bc-727e-4b09-b579-be66aa7c4a48"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "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 and rightward toward the white hexagonal cylindrical object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "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 grasps the white hexagonal cylindrical object on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1240, "end_step": 1374, "id": "05e2bab0-7b96-4235-b377-1a3b447186ca"}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "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 hollow hexagonal piece from the table and transports it to above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "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: mate: Right hand mates the white hollow hexagonal piece onto the purple vertical rod by aligning and lowering it into the assembled position."}, {"label": "goal", "start_step": 1375, "end_step": 1506, "id": "b81196fb-9732-40cb-a873-4a809c089dc6"}, {"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: reach: Right hand reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00030", "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 table with fingers closing around it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "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 cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1507, "end_step": 1662, "id": "63f063d8-8c6f-459a-ba6d-1713ba79112a"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "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 table and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1649, "id": "reasoning-language-00034", "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 hexagonal block with the purple peg on the wooden rack, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "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 green block of the wooden base, with fingers gradually opening."}, {"label": "goal", "start_step": 1663, "end_step": 1812, "id": "08a19d21-7b9a-43c0-b51d-f0dfdaf62cb2"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00036", "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 green cubic block and white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00037", "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 table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00038", "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 cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "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 adjusts its fingers to form a stable grasp on the white cylindrical object resting on the green cube, with the object staying stationary on the support."}, {"label": "goal", "start_step": 1813, "end_step": 1995, "id": "9c776321-b9d5-4373-9258-d7ae016166ad"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "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 cylindrical object off the green cube and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1994, "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 aligns the inner hole of the white cylindrical object with the purple rod on the wooden base and inserts the object downward onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 opens its fingers to release the white cylindrical object, fully separating from the object."}, {"label": "goal", "start_step": 1996, "end_step": 2157, "id": "f4426974-ff3d-4f15-bf6e-c72ebe4a9157"}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "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 to the right of the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "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 adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00045", "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": 2145, "end_step": 2211, "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 grasps the white hexagonal block on the table adjacent to the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2158, "end_step": 2361, "id": "ab6f0a45-3741-4248-a57b-1967eef83daf"}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "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 white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand pushes the white block downward along the purple rod to complete the assembly."}, {"label": "goal", "start_step": 2362, "end_step": 2463, "id": "766976ad-7b6f-41d0-a756-0fe924ff19bc"}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "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 block on the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2481, "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 block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2464, "end_step": 2610, "id": "4c6b3f90-a7d9-4293-9bb7-2c35b754fdff"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "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 perforated cube off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2609, "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 aligns the white perforated cube with the purple rod on the wooden rack and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00054", "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 bottle on the wooden rack, with fingers opening and separating from the bottle top."}, {"label": "goal", "start_step": 2611, "end_step": 2751, "id": "2cfe9df2-c17f-4ceb-869f-faad5d35d3df"}, {"label": "subtasks", "start_step": 2632, "end_step": 2661, "id": "reasoning-language-00055", "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 to approach the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2774, "id": "reasoning-language-00056", "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 adjusting to form a stable grip."}, {"label": "goal", "start_step": 2752, "end_step": 2886, "id": "b8a0251c-5c04-4ff0-8c94-ebab687e5f78"}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00057", "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 transports it upward and leftward toward the bottle rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00058", "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 bottle on the wooden rack to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the green block down onto the target bottle until the block is stably supported by the bottle."}, {"label": "home", "start_step": 2918, "end_step": 2948, "id": "7Y5IlZj7mSRpSQ19g4iEG"}], "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 home position and stops, remaining empty with fingers slightly open. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 38, "end_step": 127, "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 leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "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 grasps the green cubic block on the left side of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00004", "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 cubic block on the left side of the table without moving, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "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 hexagonal block on the table to the left of the wooden base, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "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 hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 464, "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 hexagonal block onto the leftmost purple peg of the wooden base, lowering it along the peg until it reaches the wooden base plate."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00008", "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 leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "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 down and left to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "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 grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "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 black table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "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 part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "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 part from the table and transports it upward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "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 part with the purple peg on the wooden board and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00016", "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 leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00017", "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 leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "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 leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 grasps the white hexagonal block on the black table surface, with fingers adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00021", "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 off the table and transports it to above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 990, "end_step": 1117, "id": "reasoning-language-00022", "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 hexagonal block onto the leftmost peg of the pegboard by aligning the hole and inserting it downward."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00023", "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 leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "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-left of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "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 and rightward toward the white hexagonal cylindrical object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "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 grasps the white hexagonal cylindrical object on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "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 hollow hexagonal piece from the table and transports it to above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "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: mate: Right hand mates the white hollow hexagonal piece onto the purple vertical rod by aligning and lowering it into the assembled position."}, {"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: reach: Right hand reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00030", "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 table with fingers closing around it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "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 cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "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 table and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1649, "id": "reasoning-language-00034", "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 hexagonal block with the purple peg on the wooden rack, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "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 green block of the wooden base, with fingers gradually opening."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00036", "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 green cubic block and white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00037", "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 table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00038", "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 cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "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 adjusts its fingers to form a stable grasp on the white cylindrical object resting on the green cube, with the object staying stationary on the support."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "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 cylindrical object off the green cube and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1994, "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 aligns the inner hole of the white cylindrical object with the purple rod on the wooden base and inserts the object downward onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 opens its fingers to release the white cylindrical object, fully separating from the object."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "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 to the right of the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "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 adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00045", "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": 2145, "end_step": 2211, "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 grasps the white hexagonal block on the table adjacent to the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "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 white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand pushes the white block downward along the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "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 block on the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2481, "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 block on the table, with fingers adjusting 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 home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white perforated cube off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2609, "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 aligns the white perforated cube with the purple rod on the wooden rack and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00054", "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 bottle on the wooden rack, with fingers opening and separating from the bottle top."}, {"label": "subtasks", "start_step": 2632, "end_step": 2661, "id": "reasoning-language-00055", "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 to approach the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2774, "id": "reasoning-language-00056", "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 adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00057", "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 transports it upward and leftward toward the bottle rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00058", "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 bottle on the wooden rack to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the green block down onto the target bottle until the block is stably supported by the bottle."}], "episode_index": 21}
+{"source_uid": "27c76cb11696449b", "num_frames": 3889, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 179, "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 small white part in front of the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 258, "id": "a7cd08c9-7f7e-4303-a245-7034a995cf13"}, {"label": "valid", "start_step": 0, "end_step": 3857, "id": "rhOXMQiDKzoijQhArYjsS"}, {"label": "subtasks", "start_step": 180, "end_step": 277, "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 small white part in front of the wooden rack."}, {"label": "goal", "start_step": 259, "end_step": 408, "id": "f5eeca2c-166d-41c3-8f81-13a1f0ef18b3"}, {"label": "subtasks", "start_step": 278, "end_step": 314, "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 cube off the workspace and moves it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "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 cube with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "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 cube downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the 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": 409, "end_step": 570, "id": "7ffcbd6a-a5c9-4e87-834a-f03e3462f6d4"}, {"label": "subtasks", "start_step": 450, "end_step": 509, "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 hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 571, "end_step": 723, "id": "3fbce14a-b13c-40aa-b23c-f69ffb10b517"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "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 object from the table surface and transports it to above the purple peg on the base."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "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 object onto the purple peg on the base, adjusting to make it fit properly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "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 purple rod on the wooden base."}, {"label": "goal", "start_step": 724, "end_step": 849, "id": "6f9259cc-71cc-407a-b4f1-e379f75b165c"}, {"label": "subtasks", "start_step": 750, "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: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 877, "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 850, "end_step": 1071, "id": "40b373c5-f4ee-45a8-98af-c04f8e245d98"}, {"label": "subtasks", "start_step": 878, "end_step": 914, "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 off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "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's hole with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00016", "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 its position."}, {"label": "subtasks", "start_step": 1058, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "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 small white cylinder in front of the wooden peg base."}, {"label": "goal", "start_step": 1072, "end_step": 1170, "id": "c94b6d8d-51d6-433b-b635-326ae4467dd2"}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "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 form a stable grasp on the small white cylinder in front of the wooden peg base."}, {"label": "goal", "start_step": 1171, "end_step": 1371, "id": "85c90fbd-bc76-462a-81f9-1065b0bb5b36"}, {"label": "subtasks", "start_step": 1200, "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: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1311, "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 hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to secure it in place on the peg stack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "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 rod of the wooden base."}, {"label": "goal", "start_step": 1372, "end_step": 1563, "id": "e20c66fc-4d4f-4452-baf8-5aa2095cc314"}, {"label": "subtasks", "start_step": 1410, "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: reach: Right hand moves downward towards the green square block on the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1581, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green square block on the table."}, {"label": "goal", "start_step": 1564, "end_step": 1782, "id": "c6b0e9a8-d564-40b9-bec7-f8b4bfe12624"}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "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 green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "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 moves the green block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "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 onto the peg."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1770, "end_step": 1844, "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 block base towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1783, "end_step": 2535, "id": "6b62ba75-aece-4c32-a756-f3d3bcabf00e"}, {"label": "subtasks", "start_step": 1845, "end_step": 1987, "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 white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "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 grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "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 hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "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 hexagonal block onto the purple peg of the wooden base until it is supported by the peg."}, {"label": "subtasks", "start_step": 2130, "end_step": 2234, "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 towards another white hexagonal block on the table near the wooden base after the previous block falls off the peg."}, {"label": "subtasks", "start_step": 2235, "end_step": 2354, "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 table, adjusting fingers to establish a stable hold."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "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 grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2534, "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 grasped white hexagonal block slowly towards the wooden block base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "goal", "start_step": 2536, "end_step": 2972, "id": "f4d02a1f-0ca8-4e44-b4e8-e08e199e57d8"}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00040", "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 wooden peg rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "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 aligns the white cylindrical block with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2670, "end_step": 2871, "id": "reasoning-language-00042", "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 peg to secure it."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "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 opens fingers to release the white cylindrical block."}, {"label": "subtasks", "start_step": 2895, "end_step": 2969, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upwards away from the wooden peg rack."}, {"label": "subtasks", "start_step": 2970, "end_step": 3029, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table next to the wooden base."}, {"label": "goal", "start_step": 2973, "end_step": 3095, "id": "3c8ac7b6-8df7-46a7-bed5-12a8bc17a822"}, {"label": "subtasks", "start_step": 3030, "end_step": 3111, "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 adjusts fingers to close around the white hexagonal block on the table to establish stable grip."}, {"label": "goal", "start_step": 3096, "end_step": 3221, "id": "76ab72d6-fe2c-4046-b926-8ab1b7e8d440"}, {"label": "subtasks", "start_step": 3112, "end_step": 3134, "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 hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "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 rod on the wooden base."}, {"label": "subtasks", "start_step": 3165, "end_step": 3209, "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 hexagonal block with the purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "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 hexagonal block and moves slightly away from the rod."}, {"label": "goal", "start_step": 3222, "end_step": 3332, "id": "beaa6cb3-1f82-4951-847b-c130ba4b1451"}, {"label": "subtasks", "start_step": 3225, "end_step": 3231, "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 places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3232, "end_step": 3277, "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 toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 3278, "end_step": 3351, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 3333, "end_step": 3488, "id": "3273cc01-d136-4356-b5cc-f833bfdb5667"}, {"label": "subtasks", "start_step": 3352, "end_step": 3389, "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 cubic block from the table and transports it above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 3390, "end_step": 3479, "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 cubic block with the empty slot on the wooden rack and inserts it into the slot."}, {"label": "subtasks", "start_step": 3480, "end_step": 3494, "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 cubic block that is fixed on the wooden block rack."}, {"label": "goal", "start_step": 3489, "end_step": 3683, "id": "db17691e-741f-437f-bd4b-66901820108e"}, {"label": "subtasks", "start_step": 3495, "end_step": 3539, "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 placed on the black table surface."}, {"label": "subtasks", "start_step": 3540, "end_step": 3607, "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 adjusts fingers to establish a stable grip on the green cube on the black table."}, {"label": "subtasks", "start_step": 3608, "end_step": 3674, "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 green cube on the black table without moving."}, {"label": "subtasks", "start_step": 3675, "end_step": 3711, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 3684, "end_step": 3827, "id": "056628c6-5dec-4816-a9ed-28829bac85b7"}, {"label": "subtasks", "start_step": 3712, "end_step": 3741, "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 towards the white bottle rack."}, {"label": "subtasks", "start_step": 3742, "end_step": 3824, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the white bottle with purple tip on the rack."}, {"label": "subtasks", "start_step": 3825, "end_step": 3839, "id": "reasoning-language-00063", "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 fitted onto the bottle."}, {"label": "home", "start_step": 3858, "end_step": 3888, "id": "rzAVC-JbiBCXukA54LObp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 179, "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 small white part in front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 180, "end_step": 277, "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 small white part in front of the wooden rack."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "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 cube off the workspace and moves it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "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 cube with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "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 cube downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the 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": 450, "end_step": 509, "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 hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "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 object from the table surface and transports it to above the purple peg on the base."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "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 object onto the purple peg on the base, adjusting to make it fit properly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "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 purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "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: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 877, "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "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 off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "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's hole with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00016", "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 its position."}, {"label": "subtasks", "start_step": 1058, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "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 small white cylinder in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "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 form a stable grasp on the small white cylinder in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1200, "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: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1311, "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 hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to secure it in place on the peg stack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "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 rod of the wooden base."}, {"label": "subtasks", "start_step": 1410, "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: reach: Right hand moves downward towards the green square block on the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1581, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green square block on the table."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "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 green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "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 moves the green block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "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 onto the peg."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1770, "end_step": 1844, "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 block base towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1987, "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 white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "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 grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "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 hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "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 hexagonal block onto the purple peg of the wooden base until it is supported by the peg."}, {"label": "subtasks", "start_step": 2130, "end_step": 2234, "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 towards another white hexagonal block on the table near the wooden base after the previous block falls off the peg."}, {"label": "subtasks", "start_step": 2235, "end_step": 2354, "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 table, adjusting fingers to establish a stable hold."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "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 grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2534, "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 grasped white hexagonal block slowly towards the wooden block base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00040", "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 wooden peg rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "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 aligns the white cylindrical block with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2670, "end_step": 2871, "id": "reasoning-language-00042", "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 peg to secure it."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "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 opens fingers to release the white cylindrical block."}, {"label": "subtasks", "start_step": 2895, "end_step": 2969, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upwards away from the wooden peg rack."}, {"label": "subtasks", "start_step": 2970, "end_step": 3029, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table next to the wooden base."}, {"label": "subtasks", "start_step": 3030, "end_step": 3111, "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 adjusts fingers to close around the white hexagonal block on the table to establish stable grip."}, {"label": "subtasks", "start_step": 3112, "end_step": 3134, "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 hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "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 rod on the wooden base."}, {"label": "subtasks", "start_step": 3165, "end_step": 3209, "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 hexagonal block with the purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "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 hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 3225, "end_step": 3231, "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 places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3232, "end_step": 3277, "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 toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 3278, "end_step": 3351, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3352, "end_step": 3389, "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 cubic block from the table and transports it above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 3390, "end_step": 3479, "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 cubic block with the empty slot on the wooden rack and inserts it into the slot."}, {"label": "subtasks", "start_step": 3480, "end_step": 3494, "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 cubic block that is fixed on the wooden block rack."}, {"label": "subtasks", "start_step": 3495, "end_step": 3539, "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 placed on the black table surface."}, {"label": "subtasks", "start_step": 3540, "end_step": 3607, "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 adjusts fingers to establish a stable grip on the green cube on the black table."}, {"label": "subtasks", "start_step": 3608, "end_step": 3674, "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 green cube on the black table without moving."}, {"label": "subtasks", "start_step": 3675, "end_step": 3711, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 3712, "end_step": 3741, "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 towards the white bottle rack."}, {"label": "subtasks", "start_step": 3742, "end_step": 3824, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the white bottle with purple tip on the rack."}, {"label": "subtasks", "start_step": 3825, "end_step": 3839, "id": "reasoning-language-00063", "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 fitted onto the bottle."}], "episode_index": 22}
+{"source_uid": "4250c09c368d63f6", "num_frames": 3082, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand, empty, moves leftward and downward toward the small white part next to the green hexagonal block near the wooden assembly."}, {"label": "goal", "start_step": 0, "end_step": 210, "id": "523ee3fa-46bb-4a16-9e32-0ef0eb767759"}, {"label": "valid", "start_step": 0, "end_step": 3051, "id": "NyvmaM9nmxGCz4sllI_kr"}, {"label": "subtasks", "start_step": 98, "end_step": 231, "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 fingers around the small white part on the table, making continuous slight adjustments to fingers and wrist to stabilize the grip."}, {"label": "goal", "start_step": 211, "end_step": 366, "id": "f752f926-c788-4692-856d-645d20adaa0a"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "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: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "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: mate: Right hand lowers the green hexagonal block to align and fit it onto the leftmost purple peg, establishing the mated assembly relationship between the block and the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "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: hold: Right hand holds the green hexagonal block mated on the purple peg without any observable movement of the hand, fingers or the block."}, {"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 any visible movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the table surface behind the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 367, "end_step": 537, "id": "e19b47b2-7e28-4a73-aa58-aac1b859fbfe"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "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: reach: Right hand moves toward the front-left white hexagonal block on the table, approaching the target without establishing a grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 554, "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: grasp: Right hand contacts the front-left white hexagonal block, fingers close and make continuous small adjustments to form a stable grasp on the block."}, {"label": "goal", "start_step": 538, "end_step": 735, "id": "c9ec018f-6f00-47ab-9fe7-9ea23d60aacb"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "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: lift: Right hand moves upward while gripping the white hexagonal nut, lifting the nut completely off the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "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: transport: Right hand moves upward while holding the lifted white hexagonal nut, transporting the nut to the area directly above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 585, "end_step": 734, "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: mate: Right hand aligns the white hexagonal nut with the purple post, making small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "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: reach: Right hand moves downward from the upper wooden block assembly toward the left white hexagonal block on the dark gray table surface, with fingers open and extended, not yet touching the block."}, {"label": "goal", "start_step": 736, "end_step": 969, "id": "68a3947a-f5d9-4db7-895a-bd112fdeb146"}, {"label": "subtasks", "start_step": 780, "end_step": 921, "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: grasp: Right hand makes contact with the left white hexagonal block on the table, fingers close around the block and make small positional adjustments of the fingers and wrist to establish a firm grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "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: hold: Right hand holds the left white hexagonal block steadily on the dark gray table surface, with no observable movement of the hand, fingers, wrist or the block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "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: grasp: Right hand grasps the white hexagonal nut placed on the black table surface, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 970, "end_step": 1128, "id": "f17830a4-1c6d-43fd-a1fc-9703047e77a1"}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "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: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "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: mate: Right hand aligns the gripped white hexagonal nut with the target purple rod, moving the nut downward to fit it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "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: lift: Right hand grips the white hexagonal block on the wooden base and moves upward to lift it completely free of the base's supporting pegs."}, {"label": "goal", "start_step": 1129, "end_step": 1242, "id": "62982b40-6c35-4da5-9591-6d969b8412ca"}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "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: transport_place: Right hand carries the lifted white hexagonal block downward toward the dark table surface, adjusting its position until the block rests stably on the table."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "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: hold: Right hand holds the white hexagonal block on the dark table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "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: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the table adjacent to the wooden peg board."}, {"label": "goal", "start_step": 1243, "end_step": 1476, "id": "894b6807-4c28-4661-9319-081c09d3cfbe"}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "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: lift: Right hand lifts the grasped white hexagonal block vertically upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "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: transport: Right hand carries the lifted white hexagonal block through the air to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "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: mate: Right hand adjusts the white hexagonal block to align its central hole with the target purple peg, lowering the block to seat onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1469, "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: hold: Right hand holds the seated white hexagonal block on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "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: place_release: Right hand lowers the held white hexagonal block onto the purple wooden peg on the wooden base, releasing the block as it settles stably on the stacked block below."}, {"label": "goal", "start_step": 1477, "end_step": 1587, "id": "96fdd220-519e-4301-b8df-e164879bbe75"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "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: reach: Right hand moves empty downward from the wooden base toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "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: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing digits to form a grip on the block."}, {"label": "goal", "start_step": 1588, "end_step": 1725, "id": "74e3b3ea-5a9f-4380-8ee9-92095e1acb1b"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "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: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the wooden peg base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "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 green hexagonal block with the target vertical peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "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 hexagonal block fitted on the wooden base peg without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "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: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the dark table surface, staying empty with no contact to the nut."}, {"label": "goal", "start_step": 1726, "end_step": 1836, "id": "3f125b97-f51e-4a18-b3e0-1f8230faaf1c"}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "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: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to form a stable grasp."}, {"label": "goal", "start_step": 1837, "end_step": 2004, "id": "fbc0ea25-76c6-4ae1-94f6-802ab49fe015"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "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: lift_transport: Right hand lifts the grasped white hexagonal block off the dark work surface and moves it upward to the position above the wooden peg assembly."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "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: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden assembly and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "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: hold: Right hand holds the white hexagonal block seated on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "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: place_release: Right hand holds the white hexagonal block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the supported block."}, {"label": "goal", "start_step": 2005, "end_step": 2109, "id": "7bbe0da9-3be3-4355-a607-e0f0d60bf954"}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "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: reach: Right hand moves empty toward the white hexagonal block resting on the right section of the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "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: 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": 2110, "end_step": 2265, "id": "ccc01fa0-17a0-41fd-8012-c5808fd60551"}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "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: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the nearby wooden block rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "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: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to seat it securely on the rod, and opens its fingers to release the fully assembled block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2317, "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: reach: Right hand moves downward while empty, approaching the white hexagonal object placed on the dark table surface."}, {"label": "goal", "start_step": 2266, "end_step": 2358, "id": "ebb7321e-402f-431e-bb4c-dcdfdb02a1cd"}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "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: grasp: Right hand closes fingers around the white hexagonal object on the table, making slight grip adjustments to hold the object."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "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: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 2359, "end_step": 2742, "id": "1644a6a9-d3c5-4f37-b7e5-d12a67948415"}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "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: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and backward to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2408, "end_step": 2451, "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: mate: Right hand aligns the white hexagonal block with the purple rod on the stacked block assembly and lowers it to fit into the assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2729, "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 assembled white hexagonal block on the stacked block assembly without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "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: release: Right hand releases the light purple cylindrical object seated in the wooden peg base, fingers open and move away until fully separated from the cylinder."}, {"label": "goal", "start_step": 2743, "end_step": 2867, "id": "c78cb09c-9f33-4998-b985-510fe834666c"}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "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: reach: Right hand moves downwards toward the green hollow block on the dark table surface, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "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: grasp: Right hand fingers adjust around the green hollow block, closing and repositioning slightly to form a stable grip, with the block remaining stationary on the table surface."}, {"label": "goal", "start_step": 2868, "end_step": 3020, "id": "86727614-f396-483d-82eb-cc2016f8594a"}, {"label": "subtasks", "start_step": 2888, "end_step": 2931, "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: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to a position directly above the purple cylindrical peg on the wooden block base."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "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: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "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: hold: Right hand holds the green hexagonal block fitted on the purple cylindrical peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3015, "end_step": 3029, "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: release: Right hand opens its fingers to release the green hexagonal block, separating the hand from the block surface."}, {"label": "home", "start_step": 3052, "end_step": 3081, "id": "dbK2VRgt2uziLlW_NarTR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand, empty, moves leftward and downward toward the small white part next to the green hexagonal block near the wooden assembly."}, {"label": "subtasks", "start_step": 98, "end_step": 231, "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 fingers around the small white part on the table, making continuous slight adjustments to fingers and wrist to stabilize the grip."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "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: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "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: mate: Right hand lowers the green hexagonal block to align and fit it onto the leftmost purple peg, establishing the mated assembly relationship between the block and the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "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: hold: Right hand holds the green hexagonal block mated on the purple peg without any observable movement of the hand, fingers or the block."}, {"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 any visible movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the table surface behind the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "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: reach: Right hand moves toward the front-left white hexagonal block on the table, approaching the target without establishing a grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 554, "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: grasp: Right hand contacts the front-left white hexagonal block, fingers close and make continuous small adjustments to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "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: lift: Right hand moves upward while gripping the white hexagonal nut, lifting the nut completely off the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "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: transport: Right hand moves upward while holding the lifted white hexagonal nut, transporting the nut to the area directly above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 585, "end_step": 734, "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: mate: Right hand aligns the white hexagonal nut with the purple post, making small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "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: reach: Right hand moves downward from the upper wooden block assembly toward the left white hexagonal block on the dark gray table surface, with fingers open and extended, not yet touching the block."}, {"label": "subtasks", "start_step": 780, "end_step": 921, "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: grasp: Right hand makes contact with the left white hexagonal block on the table, fingers close around the block and make small positional adjustments of the fingers and wrist to establish a firm grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "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: hold: Right hand holds the left white hexagonal block steadily on the dark gray table surface, with no observable movement of the hand, fingers, wrist or the block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "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: grasp: Right hand grasps the white hexagonal nut placed on the black table surface, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "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: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "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: mate: Right hand aligns the gripped white hexagonal nut with the target purple rod, moving the nut downward to fit it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "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: lift: Right hand grips the white hexagonal block on the wooden base and moves upward to lift it completely free of the base's supporting pegs."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "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: transport_place: Right hand carries the lifted white hexagonal block downward toward the dark table surface, adjusting its position until the block rests stably on the table."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "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: hold: Right hand holds the white hexagonal block on the dark table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "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: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the table adjacent to the wooden peg board."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "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: lift: Right hand lifts the grasped white hexagonal block vertically upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "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: transport: Right hand carries the lifted white hexagonal block through the air to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "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: mate: Right hand adjusts the white hexagonal block to align its central hole with the target purple peg, lowering the block to seat onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1469, "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: hold: Right hand holds the seated white hexagonal block on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "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: place_release: Right hand lowers the held white hexagonal block onto the purple wooden peg on the wooden base, releasing the block as it settles stably on the stacked block below."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "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: reach: Right hand moves empty downward from the wooden base toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "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: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing digits to form a grip on the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "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: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the wooden peg base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "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 green hexagonal block with the target vertical peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "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 hexagonal block fitted on the wooden base peg without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "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: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the dark table surface, staying empty with no contact to the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "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: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to form a stable grasp."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "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: lift_transport: Right hand lifts the grasped white hexagonal block off the dark work surface and moves it upward to the position above the wooden peg assembly."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "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: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden assembly and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "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: hold: Right hand holds the white hexagonal block seated on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "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: place_release: Right hand holds the white hexagonal block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the supported block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "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: reach: Right hand moves empty toward the white hexagonal block resting on the right section of the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "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: 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": 2122, "end_step": 2167, "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: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the nearby wooden block rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "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: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to seat it securely on the rod, and opens its fingers to release the fully assembled block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2317, "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: reach: Right hand moves downward while empty, approaching the white hexagonal object placed on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "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: grasp: Right hand closes fingers around the white hexagonal object on the table, making slight grip adjustments to hold the object."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "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: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "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: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and backward to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2408, "end_step": 2451, "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: mate: Right hand aligns the white hexagonal block with the purple rod on the stacked block assembly and lowers it to fit into the assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2729, "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 assembled white hexagonal block on the stacked block assembly without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "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: release: Right hand releases the light purple cylindrical object seated in the wooden peg base, fingers open and move away until fully separated from the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "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: reach: Right hand moves downwards toward the green hollow block on the dark table surface, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "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: grasp: Right hand fingers adjust around the green hollow block, closing and repositioning slightly to form a stable grip, with the block remaining stationary on the table surface."}, {"label": "subtasks", "start_step": 2888, "end_step": 2931, "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: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to a position directly above the purple cylindrical peg on the wooden block base."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "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: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "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: hold: Right hand holds the green hexagonal block fitted on the purple cylindrical peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3015, "end_step": 3029, "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: release: Right hand opens its fingers to release the green hexagonal block, separating the hand from the block surface."}], "episode_index": 23}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v3.0/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ee628ef978cd56de544b3b7c45736022b14743e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,24 @@
+{"source_uid": "2cc85dfc06e79c24", "num_frames": 3626, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the left resting position with fingers slightly extended. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}, {"label": "goal", "start_step": 0, "end_step": 185, "id": "d37e8dca-4322-489b-b7d6-e83680b71152"}, {"label": "valid", "start_step": 0, "end_step": 3595, "id": "VgwBD4nIwCozolnGVu2YL"}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}, {"label": "subtasks", "start_step": 135, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block, adjusting finger contact points to form a stable grip on the block."}, {"label": "goal", "start_step": 186, "end_step": 494, "id": "4796d6eb-44ef-4551-822c-f54e8114a50f"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted green block horizontally toward the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 494, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, slides the block down along the peg, and makes small adjustments to position the block on the assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand positions the white cylindrical block onto the leftmost purple rod of the wooden rack until the block is stably supported, with fingers opening to release contact with the block."}, {"label": "goal", "start_step": 495, "end_step": 746, "id": "d45a7b9c-674f-48ab-97a8-fe34ab676f9e"}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden rack toward the front-left white hexagonal block on the dark table surface, with fingers open, approaching the target without contact."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block on the table, closes fingers around the block, and adjusts finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the front-left white hexagonal block steadily on the dark table surface without observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block resting on the dark table surface, securing a stable grip."}, {"label": "goal", "start_step": 747, "end_step": 1094, "id": "147e4372-f509-4e50-8da1-2664bc968d06"}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position 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": 772, "end_step": 824, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden peg board, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 825, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowers the block to fit it onto the peg above the existing green block."}, {"label": "subtasks", "start_step": 922, "end_step": 1094, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds the green block with white top, aligns it with the purple peg on the wooden assembly base and fits it onto the peg."}, {"label": "goal", "start_step": 1095, "end_step": 1232, "id": "28152b89-a15b-4c77-95bd-fa6c7c130418"}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward from the assembly base towards the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the left white hexagonal block on the table, with slight finger movements to adjust contact points for grasping."}, {"label": "goal", "start_step": 1233, "end_step": 1571, "id": "f6011da5-8f24-4fdd-bc7a-f8afaaf37812"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical component off the table surface and transports it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1537, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the grasped white cylindrical component with the purple rod on the wooden base and lowers it to fit onto the rod, adjusting position slightly to complete the assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white cylindrical component on the purple rod without any observable movement of the hand or the component."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds white cylindrical caps, aligns and fits them onto the tops of the vertical purple posts on the wooden base to complete assembly."}, {"label": "goal", "start_step": 1572, "end_step": 1739, "id": "9cbe6cef-1a12-421e-a0b4-531f8389ab13"}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward empty from above the wooden base toward the white hexagonal nut placed on the table surface in front of the base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical object resting on the dark table surface near the wooden block assembly."}, {"label": "goal", "start_step": 1740, "end_step": 1979, "id": "d9b22de8-93a1-4f45-afb6-4d7157aa9aa1"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the dark table surface, moves it upward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the purple vertical rod on the wooden assembly, lowers the object to fit it onto the rod, makes small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1868, "end_step": 1979, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object seated on the purple vertical rod of the wooden assembly without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to seat it on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1980, "end_step": 2093, "id": "12e7b07b-9ed3-4501-b8e3-44acc7691ace"}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens fingers to release the seated white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without observable movement."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green block resting on the table."}, {"label": "goal", "start_step": 2094, "end_step": 2243, "id": "89df5df6-904b-4f46-bb55-81b1145151df"}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand moves the lifted green block upward and toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and slides the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, allowing the block to slide down the purple rod."}, {"label": "goal", "start_step": 2244, "end_step": 2369, "id": "99a5f13a-6c30-46d4-8898-e9090dc443d4"}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block to the purple peg on the wooden assembly board to complete the mating connection."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the mated green block, moves empty downwards toward the front white hexagonal block on the dark table surface without establishing contact with the block."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, closes fingers around the block and adjusts wrist and finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the dark table surface, closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 2370, "end_step": 2594, "id": "07773d88-cb31-4fb5-a825-d4935c4b3fa7"}, {"label": "subtasks", "start_step": 2408, "end_step": 2459, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward toward the wooden block assembly, positioning it above the purple vertical rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block slightly to fit it onto the rod to form the mated assembly."}, {"label": "subtasks", "start_step": 2505, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple vertical rod of the wooden assembly with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base, fingers opening to release the block."}, {"label": "goal", "start_step": 2595, "end_step": 2735, "id": "c3118c4a-39a0-4845-8591-6dbc50ed79a3"}, {"label": "subtasks", "start_step": 2625, "end_step": 2669, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "goal", "start_step": 2736, "end_step": 2930, "id": "1e5fe2eb-aba3-4778-a158-94606eeb0b34"}, {"label": "subtasks", "start_step": 2760, "end_step": 2774, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting table and wooden rack edge."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2901, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit the block onto the rod, making small positional adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 2902, "end_step": 2917, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: retreat: Right hand moves upward away from the assembled block on the purple rod, retreating from the immediate operation position."}, {"label": "subtasks", "start_step": 2925, "end_step": 2991, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the wooden block rack toward the small white hexagonal block on the table, staying empty as it approaches until it is positioned just above the target block without contact."}, {"label": "goal", "start_step": 2931, "end_step": 3062, "id": "3c8e1a07-b93a-4d2a-acc3-d05dde16c0e9"}, {"label": "subtasks", "start_step": 2992, "end_step": 3089, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers performing visible adjusting movements and closing around the block to establish a stable grip."}, {"label": "goal", "start_step": 3063, "end_step": 3245, "id": "6200fa79-9a67-4d6b-8217-b039b88bcc5d"}, {"label": "subtasks", "start_step": 3090, "end_step": 3134, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white object off the table surface and transports it upward toward the stacked blocks on the wooden tray."}, {"label": "subtasks", "start_step": 3135, "end_step": 3231, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the small white object with the purple vertical rod on the block stack and fits the object onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 3232, "end_step": 3269, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the assembled white object, separating the hand from the object."}, {"label": "goal", "start_step": 3246, "end_step": 3365, "id": "9432bbfc-01ee-4811-b1ed-ac505be93955"}, {"label": "subtasks", "start_step": 3270, "end_step": 3321, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves down and right toward the green square block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 3322, "end_step": 3359, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 3360, "end_step": 3389, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward from the dark table surface."}, {"label": "goal", "start_step": 3366, "end_step": 3554, "id": "d3b46a66-8fd5-4a1a-9a38-48440aec82d2"}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand transports the lifted green block upward and leftward toward the target white cylindrical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylindrical peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 3472, "end_step": 3539, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block stably on the white cylindrical peg without visible movement or adjustment."}, {"label": "subtasks", "start_step": 3540, "end_step": 3554, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to begin releasing the green block placed on the white cylindrical peg."}, {"label": "home", "start_step": 3596, "end_step": 3625, "id": "aYxFiIRlcDPEkyeaQmoVU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the left resting position with fingers slightly extended. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}, {"label": "subtasks", "start_step": 135, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block, adjusting finger contact points to form a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted green block horizontally toward the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 494, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, slides the block down along the peg, and makes small adjustments to position the block on the assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand positions the white cylindrical block onto the leftmost purple rod of the wooden rack until the block is stably supported, with fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden rack toward the front-left white hexagonal block on the dark table surface, with fingers open, approaching the target without contact."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block on the table, closes fingers around the block, and adjusts finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the front-left white hexagonal block steadily on the dark table surface without observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block resting on the dark table surface, securing a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position 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": 772, "end_step": 824, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden peg board, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 825, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowers the block to fit it onto the peg above the existing green block."}, {"label": "subtasks", "start_step": 922, "end_step": 1094, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds the green block with white top, aligns it with the purple peg on the wooden assembly base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward from the assembly base towards the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the left white hexagonal block on the table, with slight finger movements to adjust contact points for grasping."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical component off the table surface and transports it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1537, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the grasped white cylindrical component with the purple rod on the wooden base and lowers it to fit onto the rod, adjusting position slightly to complete the assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white cylindrical component on the purple rod without any observable movement of the hand or the component."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds white cylindrical caps, aligns and fits them onto the tops of the vertical purple posts on the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward empty from above the wooden base toward the white hexagonal nut placed on the table surface in front of the base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical object resting on the dark table surface near the wooden block assembly."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the dark table surface, moves it upward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the purple vertical rod on the wooden assembly, lowers the object to fit it onto the rod, makes small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1868, "end_step": 1979, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object seated on the purple vertical rod of the wooden assembly without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to seat it on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens fingers to release the seated white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without observable movement."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green block resting on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand moves the lifted green block upward and toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and slides the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, allowing the block to slide down the purple rod."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block to the purple peg on the wooden assembly board to complete the mating connection."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the mated green block, moves empty downwards toward the front white hexagonal block on the dark table surface without establishing contact with the block."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, closes fingers around the block and adjusts wrist and finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the dark table surface, closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2459, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward toward the wooden block assembly, positioning it above the purple vertical rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block slightly to fit it onto the rod to form the mated assembly."}, {"label": "subtasks", "start_step": 2505, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple vertical rod of the wooden assembly with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base, fingers opening to release the block."}, {"label": "subtasks", "start_step": 2625, "end_step": 2669, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "subtasks", "start_step": 2760, "end_step": 2774, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting table and wooden rack edge."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2901, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit the block onto the rod, making small positional adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 2902, "end_step": 2917, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: retreat: Right hand moves upward away from the assembled block on the purple rod, retreating from the immediate operation position."}, {"label": "subtasks", "start_step": 2925, "end_step": 2991, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the wooden block rack toward the small white hexagonal block on the table, staying empty as it approaches until it is positioned just above the target block without contact."}, {"label": "subtasks", "start_step": 2992, "end_step": 3089, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers performing visible adjusting movements and closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 3090, "end_step": 3134, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white object off the table surface and transports it upward toward the stacked blocks on the wooden tray."}, {"label": "subtasks", "start_step": 3135, "end_step": 3231, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the small white object with the purple vertical rod on the block stack and fits the object onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 3232, "end_step": 3269, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the assembled white object, separating the hand from the object."}, {"label": "subtasks", "start_step": 3270, "end_step": 3321, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves down and right toward the green square block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 3322, "end_step": 3359, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 3360, "end_step": 3389, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward from the dark table surface."}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand transports the lifted green block upward and leftward toward the target white cylindrical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylindrical peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 3472, "end_step": 3539, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block stably on the white cylindrical peg without visible movement or adjustment."}, {"label": "subtasks", "start_step": 3540, "end_step": 3554, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to begin releasing the green block placed on the white cylindrical peg."}], "episode_index": 0}
+{"source_uid": "623e520a9afac0af", "num_frames": 3516, "annotation_status": "loaded", "has_annotation": true, "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 raises upward from the left lower position to the left upper position. | Right hand: other:raise_hand: Right hand raises upward from the right lower position to the right upper position."}, {"label": "goal", "start_step": 0, "end_step": 198, "id": "d29a9c0e-5b0f-4f78-8140-0e3ef7a80522"}, {"label": "valid", "start_step": 0, "end_step": 3485, "id": "IcPSJ_o8uSQG_VnihyrFm"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: idle: Right hand remains empty at the right upper position without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 112, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 199, "end_step": 558, "id": "1b3dc297-0cd4-4108-820c-f43235729413"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost vertical peg of the pegboard."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block upward along the leftmost peg."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block downward along the leftmost peg."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the lower part of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 559, "end_step": 666, "id": "ec5b578b-2172-472d-a41a-1f1b3d0a4bdd"}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface with fingers closing and adjusting around it."}, {"label": "goal", "start_step": 667, "end_step": 1152, "id": "3b24fc3f-2331-4633-8cf6-08050e08ba0f"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the support."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board, stopping above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, aligning the block's hole with the peg and lowering the block onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 1153, "end_step": 1290, "id": "6287831a-10cd-4fa1-89f1-2a5be03ccf20"}, {"label": "subtasks", "start_step": 1162, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1291, "end_step": 1533, "id": "02ebcac8-46d8-472b-9db7-33394b4207c5"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and backward to the position above the rightmost purple rod of the block rack."}, {"label": "subtasks", "start_step": 1342, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward from the upper wooden rack area toward the white hexagonal block with a hole on the table, approaching the target block."}, {"label": "goal", "start_step": 1534, "end_step": 1671, "id": "390cf0e1-27b9-428d-be76-7abc10e1468d"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white perforated block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1672, "end_step": 1899, "id": "6a3b0a99-e6f8-4b54-af17-89805a5509a2"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white perforated block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white perforated block upward and toward the purple peg on the wooden board, stopping above the peg."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple peg below and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press: Right hand presses the white perforated block downward along the purple peg to compact its position."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white perforated block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1900, "end_step": 2004, "id": "74dc4373-e363-4c9e-ad6d-1da8975c696f"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the green block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2005, "end_step": 2181, "id": "e501712e-7065-467e-a9f6-e1ca36c2810c"}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the green cube upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cube upward and rightward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the green cube with the target peg by aligning the cube's hole and moving downward to fit the cube onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cube fitted on the peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple vertical peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 2182, "end_step": 2307, "id": "6e0cf4bf-d802-4ab5-a610-cc7058796f46"}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the upper working area."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting position to form a stable grip."}, {"label": "goal", "start_step": 2308, "end_step": 2529, "id": "4b9622aa-97c6-4106-b5ef-e76bd7531f47"}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and moves it upward to the position above the rack's peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white cubic block with the rack's vertical peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand gradually releases its grip on the white cubic block mounted on the peg."}, {"label": "goal", "start_step": 2530, "end_step": 2658, "id": "6a6d5cca-5e34-432b-9583-36ae84c2e798"}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper 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": "goal", "start_step": 2659, "end_step": 2850, "id": "00020272-ae26-4c86-84f9-79183484b532"}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack, moving it to the position above the purple rod."}, {"label": "subtasks", "start_step": 2738, "end_step": 2834, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod by opening fingers, then retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 2850, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal object on the table, without touching the object."}, {"label": "goal", "start_step": 2851, "end_step": 3006, "id": "d6c199bc-69f7-4808-8c08-7426dbcc8c78"}, {"label": "subtasks", "start_step": 2910, "end_step": 2947, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2948, "end_step": 2999, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper position 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": 3007, "end_step": 3144, "id": "b361aae4-8056-4482-b9fb-b7064ffa181a"}, {"label": "subtasks", "start_step": 3022, "end_step": 3067, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward and backward toward the rack with white cylinders."}, {"label": "subtasks", "start_step": 3068, "end_step": 3134, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal object with the target position on the rack, adjusting to align and fit it."}, {"label": "subtasks", "start_step": 3135, "end_step": 3157, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press_release: Right hand presses the purple rod down into the front-right bottle on the wooden base and releases its grip on the rod."}, {"label": "goal", "start_step": 3145, "end_step": 3249, "id": "77837630-d244-4e0a-a6a4-b99194b902cd"}, {"label": "subtasks", "start_step": 3158, "end_step": 3201, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves down-left towards the green cube on the workbench while keeping empty."}, {"label": "subtasks", "start_step": 3202, "end_step": 3269, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green cube on the workbench, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 3250, "end_step": 3447, "id": "25344a1f-ff2a-4079-b47c-aa41e930fa0b"}, {"label": "subtasks", "start_step": 3270, "end_step": 3307, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts and transports the green cube from the table upward and leftward to the top of the rightmost white bottle with a purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 3308, "end_step": 3449, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and presses it down to mate the cube onto the bottle."}, {"label": "home", "start_step": 3486, "end_step": 3515, "id": "xuV0tZFi1AEU6fMdYKrZc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand raises upward from the left lower position to the left upper position. | Right hand: other:raise_hand: Right hand raises upward from the right lower position to the right upper position."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: idle: Right hand remains empty at the right upper position without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 112, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost vertical peg of the pegboard."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block upward along the leftmost peg."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block downward along the leftmost peg."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the lower part of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the support."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board, stopping above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, aligning the block's hole with the peg and lowering the block onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1312, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and backward to the position above the rightmost purple rod of the block rack."}, {"label": "subtasks", "start_step": 1342, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward from the upper wooden rack area toward the white hexagonal block with a hole on the table, approaching the target block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white perforated block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white perforated block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white perforated block upward and toward the purple peg on the wooden board, stopping above the peg."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple peg below and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press: Right hand presses the white perforated block downward along the purple peg to compact its position."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white perforated block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the green block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper position 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": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the green cube upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cube upward and rightward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the green cube with the target peg by aligning the cube's hole and moving downward to fit the cube onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cube fitted on the peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple vertical peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the upper working area."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting position to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and moves it upward to the position above the rack's peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white cubic block with the rack's vertical peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand gradually releases its grip on the white cubic block mounted on the peg."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 2685, "end_step": 2699, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack, moving it to the position above the purple rod."}, {"label": "subtasks", "start_step": 2738, "end_step": 2834, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod by opening fingers, then retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 2850, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal object on the table, without touching the object."}, {"label": "subtasks", "start_step": 2910, "end_step": 2947, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2948, "end_step": 2999, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper position 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": 3022, "end_step": 3067, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward and backward toward the rack with white cylinders."}, {"label": "subtasks", "start_step": 3068, "end_step": 3134, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal object with the target position on the rack, adjusting to align and fit it."}, {"label": "subtasks", "start_step": 3135, "end_step": 3157, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press_release: Right hand presses the purple rod down into the front-right bottle on the wooden base and releases its grip on the rod."}, {"label": "subtasks", "start_step": 3158, "end_step": 3201, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves down-left towards the green cube on the workbench while keeping empty."}, {"label": "subtasks", "start_step": 3202, "end_step": 3269, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green cube on the workbench, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3270, "end_step": 3307, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts and transports the green cube from the table upward and leftward to the top of the rightmost white bottle with a purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 3308, "end_step": 3449, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and presses it down to mate the cube onto the bottle."}], "episode_index": 1}
+{"source_uid": "bc8b33168472cc51", "num_frames": 3733, "annotation_status": "loaded", "has_annotation": true, "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:move_upward: Left hand moves upward with empty palm. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "goal", "start_step": 0, "end_step": 183, "id": "e13cb23d-fb04-4991-9a82-c4a640938435"}, {"label": "valid", "start_step": 0, "end_step": 3702, "id": "3nXPKhHvc187wEe8bWiC3"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "subtasks", "start_step": 60, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and grasps the white block on the leftmost purple pillar, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 184, "end_step": 426, "id": "917c285a-e993-4657-8ee1-d46176150781"}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area 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": 285, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to fix its position."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers separating from the block."}, {"label": "goal", "start_step": 427, "end_step": 570, "id": "4bddcd50-7864-4836-a793-d27d9fade0d9"}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple pole of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 571, "end_step": 837, "id": "e75e86c3-cef5-4e46-88e4-725f08309eee"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 615, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 817, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 838, "end_step": 963, "id": "62c3af6e-350f-46c2-9178-ccd159c0a201"}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 964, "end_step": 1164, "id": "3e72bcf4-87e5-4a26-aff0-7b68fe18d0ad"}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1020, "end_step": 1154, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack, adjusting to fully fit it onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hollow cylinder on the black tabletop."}, {"label": "goal", "start_step": 1165, "end_step": 1299, "id": "5297b95b-d1a4-47d3-bfb4-261d5bf6850b"}, {"label": "subtasks", "start_step": 1230, "end_step": 1311, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder on the black tabletop, with slight grip adjustment."}, {"label": "goal", "start_step": 1300, "end_step": 1482, "id": "927f2a88-1001-4de9-a409-bc133d2edfab"}, {"label": "subtasks", "start_step": 1312, "end_step": 1371, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple post on the wooden base, pushing it down to fit."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple post without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1483, "end_step": 1599, "id": "8424258e-e113-4ef0-9e8f-9fd2e5704010"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1600, "end_step": 1779, "id": "89971134-61af-4688-9bd6-c20a28de2bb8"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1717, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple peg by aligning the block hole and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic block that has been fitted on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block assembly towards the green square block on the table."}, {"label": "goal", "start_step": 1780, "end_step": 1899, "id": "2bbfa739-944f-440d-a6eb-bc238daef3fb"}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1900, "end_step": 2088, "id": "74099d78-44d6-497c-a363-ea9cd3d69620"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 2089, "end_step": 2217, "id": "fbc8af7c-03e0-420e-bd8a-2363c5780391"}, {"label": "subtasks", "start_step": 2160, "end_step": 2241, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closing fingers to adjust and form a stable grip."}, {"label": "goal", "start_step": 2218, "end_step": 2391, "id": "40fd5b76-3e32-4631-99cd-751f59779fd7"}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2377, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the purple cylindrical object into the top of the white bottle on the wooden rack."}, {"label": "goal", "start_step": 2392, "end_step": 2496, "id": "d8d1c43a-c8f6-447a-973c-f176592fa299"}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2445, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal object and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "goal", "start_step": 2497, "end_step": 2808, "id": "e67764bb-280c-417b-bdbb-99d779b4155a"}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the white block towards the upper wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2804, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white block onto the empty peg of the wooden rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2864, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves empty towards the green cubic block placed on the table."}, {"label": "goal", "start_step": 2809, "end_step": 2931, "id": "63b181b7-7e40-43a5-b4cb-e84c742d5c1c"}, {"label": "subtasks", "start_step": 2865, "end_step": 2961, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 2932, "end_step": 3666, "id": "cf02a377-ea52-48ca-9309-64ffc1ebb704"}, {"label": "subtasks", "start_step": 2962, "end_step": 3014, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic object off the table and transports it to the position above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3015, "end_step": 3659, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic object with the protruding part of the white bottle, and makes repeated adjustments to insert the cube onto the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 3660, "end_step": 3674, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic object after it is properly fitted onto the white bottle."}, {"label": "home", "start_step": 3703, "end_step": 3732, "id": "Jde1C9Ff59kiIAZD3SRm1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward with empty palm. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "subtasks", "start_step": 60, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and grasps the white block on the leftmost purple pillar, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area 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": 285, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to fix its position."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers separating from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple pole of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 615, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 817, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 990, "end_step": 1019, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1020, "end_step": 1154, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack, adjusting to fully fit it onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hollow cylinder on the black tabletop."}, {"label": "subtasks", "start_step": 1230, "end_step": 1311, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder on the black tabletop, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1312, "end_step": 1371, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple post on the wooden base, pushing it down to fit."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple post without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1717, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple peg by aligning the block hole and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic block that has been fitted on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block assembly towards the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2241, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closing fingers to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2377, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the purple cylindrical object into the top of the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2445, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal object and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the white block towards the upper wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2804, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white block onto the empty peg of the wooden rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2864, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves empty towards the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 2865, "end_step": 2961, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2962, "end_step": 3014, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic object off the table and transports it to the position above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3015, "end_step": 3659, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic object with the protruding part of the white bottle, and makes repeated adjustments to insert the cube onto the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 3660, "end_step": 3674, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic object after it is properly fitted onto the white bottle."}], "episode_index": 2}
+{"source_uid": "b2a3a5f33465513b", "num_frames": 3267, "annotation_status": "loaded", "has_annotation": true, "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 on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block located to the left of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 255, "id": "2b3a7edd-f6b6-434f-8a76-6af742e1abd7"}, {"label": "valid", "start_step": 0, "end_step": 3236, "id": "YATTj66XvaPABBQtVApUo"}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers and makes small positional adjustments to establish a stable grip on the target green hexagonal block on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the grasped green hexagonal block steadily with no visible hand movement, finger adjustment or object displacement."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward off the dark table surface."}, {"label": "goal", "start_step": 256, "end_step": 486, "id": "b80ef879-0d5c-4f70-8520-f05f5025c769"}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 308, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the corresponding wooden peg on the assembly board, until the block is stably supported by the peg."}, {"label": "goal", "start_step": 487, "end_step": 612, "id": "86a1145b-8f01-49e0-b8da-70d4b3e02d7f"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward away from the assembly board, approaching the white hexagonal block placed on the front table surface with empty hand."}, {"label": "subtasks", "start_step": 548, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to form a stable grasp on the block, with the block remaining on the table surface."}, {"label": "goal", "start_step": 613, "end_step": 816, "id": "666903c2-ec17-4f10-af0d-42c0e93b2272"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position directly above the vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reorient: Right hand slightly rotates the grasped white hexagonal block to align its central hole with the vertical rod below, with minimal position change."}, {"label": "subtasks", "start_step": 690, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary above the vertical rod without observable movement of the hand, wrist or block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand moves the white hexagonal block downward along the vertical rod to nest it onto the green block fixed on the rod, completing the fitting action."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block to rest on the green block of the left wooden peg, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 817, "end_step": 942, "id": "590e20f6-3934-489e-a8af-5a7d2e9d082c"}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the white hexagonal block located on the front section of the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand contacts the front white hexagonal block, gradually closing fingers and adjusting wrist and finger positions to form a secure grasp on the block."}, {"label": "goal", "start_step": 943, "end_step": 1128, "id": "7b5df5e4-a13e-46c0-bff6-24bf953b9428"}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves the block upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden rack, fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and slightly left from its initial position above the stacked blocks on the wooden base, approaching the small white cylindrical object in front of the base with fingers open."}, {"label": "goal", "start_step": 1129, "end_step": 1251, "id": "150d07a2-504d-4530-b7f0-d7c3c4e55c8a"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the small white cylindrical object in front of the wooden base, making small positional adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the small white cylindrical object in front of the wooden base steadily, with no visible movement of the hand or the object."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical block placed near the wooden base."}, {"label": "goal", "start_step": 1252, "end_step": 1425, "id": "b13e9e41-8a93-4d99-8b33-fcfaa0cdd80a"}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to separate it from the supporting surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand moves the grasped white cylindrical block horizontally to position it directly above the target purple vertical rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical block with the purple vertical rod, then lowers the block to fit it onto the rod to complete assembly, with small adjustments of wrist and fingers to maintain alignment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white cylindrical block, gradually separating from the block surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the region adjacent to the wooden block assembly toward the green hexagonal block with an upright white peg resting on the dark table surface, staying empty as it approaches the target block."}, {"label": "goal", "start_step": 1426, "end_step": 1527, "id": "3462be3f-0d32-405c-9da8-e47da67c6929"}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block with an upright white peg, making small finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "goal", "start_step": 1528, "end_step": 1668, "id": "6c104877-411a-4a78-a668-b80f6c020ef0"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated 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 fit securely onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple vertical rod."}, {"label": "goal", "start_step": 1669, "end_step": 1770, "id": "d95a63c5-4d10-49df-8630-3b836c42f96a"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the white hexagonal objects on the black table surface, staying empty before contacting the target object."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut near the green block on the table, adjusting finger and wrist positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp_lift: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface and lifts the nut upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 1771, "end_step": 2115, "id": "a6ab9c3e-c6db-4fb8-937a-5303dced6ba2"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 2114, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, adjusts the nut's position and orientation, and fits the nut down onto the rod to nest with the existing parts on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the white-capped bottle placed on the wooden tray, separating from the bottle surface."}, {"label": "goal", "start_step": 2116, "end_step": 2241, "id": "cf1fb567-5e80-4419-bc95-993b725d4933"}, {"label": "subtasks", "start_step": 2130, "end_step": 2189, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block positioned near the front-right of the wooden tray."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts it upward until the block is completely off the table."}, {"label": "goal", "start_step": 2242, "end_step": 2628, "id": "6a79d196-e508-43f5-a14d-a226d8a2d331"}, {"label": "subtasks", "start_step": 2258, "end_step": 2309, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal block to move upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2624, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple rod, lowers the block to fit around the rod and makes slight adjustments until the block is stably seated on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, separating the hand from the block."}, {"label": "goal", "start_step": 2629, "end_step": 2739, "id": "76d2190a-ac95-41d5-96a6-6bc4cad941ad"}, {"label": "subtasks", "start_step": 2640, "end_step": 2691, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and toward the white hexagonal object placed on the dark table surface, approaching the object without making contact."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table, making small grip adjustments while the object remains resting on the table surface."}, {"label": "goal", "start_step": 2740, "end_step": 2919, "id": "79e77084-7285-45a9-b1fa-c3306e483c54"}, {"label": "subtasks", "start_step": 2752, "end_step": 2804, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white annular object off the table surface, moving the object upward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2805, "end_step": 2909, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white annular object with the purple rod, lowering the object to fit onto the rod with small positional adjustments."}, {"label": "subtasks", "start_step": 2910, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves from the area above the wooden bottle tray down towards the green holed block on the right side of the table, with fingers slightly extended."}, {"label": "goal", "start_step": 2920, "end_step": 3036, "id": "b93f62c6-e79e-4875-b8b8-12cce840fddf"}, {"label": "subtasks", "start_step": 2978, "end_step": 3029, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the table to establish a grasp, with fingers moving slightly to make contact with the block surface."}, {"label": "subtasks", "start_step": 3030, "end_step": 3059, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the green cubic block upward from the dark table surface while maintaining a firm grip on the block."}, {"label": "goal", "start_step": 3037, "end_step": 3222, "id": "20961aee-978e-409a-8acf-81790959b46e"}, {"label": "subtasks", "start_step": 3060, "end_step": 3119, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden rack holding stacked white cylinders at the top-right of the workspace."}, {"label": "subtasks", "start_step": 3120, "end_step": 3194, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand lowers the green cubic block downward to place it onto the top of the white cylinder with a purple cap on the rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3209, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating the hand from the block resting on the cylinder."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: retreat: Right hand retreats away from the rack area with an empty hand after completing the placement."}, {"label": "home", "start_step": 3237, "end_step": 3266, "id": "ATT-c_QoC24IgPrD_z0rv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block located to the left of the wooden peg base."}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers and makes small positional adjustments to establish a stable grip on the target green hexagonal block on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the grasped green hexagonal block steadily with no visible hand movement, finger adjustment or object displacement."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward 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 on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 308, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the corresponding wooden peg on the assembly board, until the block is stably supported by the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward away from the assembly board, approaching the white hexagonal block placed on the front table surface with empty hand."}, {"label": "subtasks", "start_step": 548, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to form a stable grasp on the block, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position directly above the vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reorient: Right hand slightly rotates the grasped white hexagonal block to align its central hole with the vertical rod below, with minimal position change."}, {"label": "subtasks", "start_step": 690, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary above the vertical rod without observable movement of the hand, wrist or block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand moves the white hexagonal block downward along the vertical rod to nest it onto the green block fixed on the rod, completing the fitting action."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block to rest on the green block of the left wooden peg, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the white hexagonal block located on the front section of the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand contacts the front white hexagonal block, gradually closing fingers and adjusting wrist and finger positions to form a secure grasp on the block."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves the block upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden rack, fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and slightly left from its initial position above the stacked blocks on the wooden base, approaching the small white cylindrical object in front of the base with fingers open."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the small white cylindrical object in front of the wooden base, making small positional adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the small white cylindrical object in front of the wooden base steadily, with no visible movement of the hand or the object."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical block placed near the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to separate it from the supporting surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand moves the grasped white cylindrical block horizontally to position it directly above the target purple vertical rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical block with the purple vertical rod, then lowers the block to fit it onto the rod to complete assembly, with small adjustments of wrist and fingers to maintain alignment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white cylindrical block, gradually separating from the block surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the region adjacent to the wooden block assembly toward the green hexagonal block with an upright white peg resting on the dark table surface, staying empty as it approaches the target block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block with an upright white peg, making small finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated 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 fit securely onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple vertical rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the white hexagonal objects on the black table surface, staying empty before contacting the target object."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut near the green block on the table, adjusting finger and wrist positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp_lift: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface and lifts the nut upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 2114, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, adjusts the nut's position and orientation, and fits the nut down onto the rod to nest with the existing parts on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the white-capped bottle placed on the wooden tray, separating from the bottle surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2189, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block positioned near the front-right of the wooden tray."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts it upward until the block is completely off the table."}, {"label": "subtasks", "start_step": 2258, "end_step": 2309, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal block to move upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2624, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple rod, lowers the block to fit around the rod and makes slight adjustments until the block is stably seated on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, separating the hand from the block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2691, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and toward the white hexagonal object placed on the dark table surface, approaching the object without making contact."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table, making small grip adjustments while the object remains resting on the table surface."}, {"label": "subtasks", "start_step": 2752, "end_step": 2804, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white annular object off the table surface, moving the object upward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2805, "end_step": 2909, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white annular object with the purple rod, lowering the object to fit onto the rod with small positional adjustments."}, {"label": "subtasks", "start_step": 2910, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves from the area above the wooden bottle tray down towards the green holed block on the right side of the table, with fingers slightly extended."}, {"label": "subtasks", "start_step": 2978, "end_step": 3029, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the table to establish a grasp, with fingers moving slightly to make contact with the block surface."}, {"label": "subtasks", "start_step": 3030, "end_step": 3059, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the green cubic block upward from the dark table surface while maintaining a firm grip on the block."}, {"label": "subtasks", "start_step": 3060, "end_step": 3119, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden rack holding stacked white cylinders at the top-right of the workspace."}, {"label": "subtasks", "start_step": 3120, "end_step": 3194, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand lowers the green cubic block downward to place it onto the top of the white cylinder with a purple cap on the rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3209, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating the hand from the block resting on the cylinder."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: retreat: Right hand retreats away from the rack area with an empty hand after completing the placement."}], "episode_index": 3}
+{"source_uid": "40ab1dab5ae7b5cd", "num_frames": 4278, "annotation_status": "loaded", "has_annotation": true, "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 table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green block on the table to the left of the wooden rack, keeping empty and not touching any object."}, {"label": "goal", "start_step": 0, "end_step": 198, "id": "726190e4-f372-41d6-8308-45838bae3d69"}, {"label": "valid", "start_step": 0, "end_step": 4243, "id": "NFMp-tfTGVdJH-Yr3IIl6"}, {"label": "subtasks", "start_step": 128, "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 closes fingers around the green block on the table and makes slight adjustments to stabilize the 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: hold: Right hand holds the green block on the table without any observable movement."}, {"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 dark table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 199, "end_step": 369, "id": "90a20d33-b0a1-41b0-b6a0-3470f21525d5"}, {"label": "subtasks", "start_step": 218, "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: lift: Right hand lifts the green cubic block upward from the table surface until it is fully in the air."}, {"label": "subtasks", "start_step": 232, "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: transport: Right hand transports the green cubic block upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 248, "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: mate: Right hand aligns the green cubic block with the middle purple peg and moves it downward to fit the block onto the peg."}, {"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: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green square block onto the bottom wooden board of the left purple vertical rod and releases the block."}, {"label": "goal", "start_step": 370, "end_step": 471, "id": "9042ddf5-44b7-4a5f-88c1-73f5633d5d3b"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "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 and forward from the pegboard area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "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 closing."}, {"label": "subtasks", "start_step": 458, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "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, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 472, "end_step": 651, "id": "e8d25e3a-d91a-41c5-99ec-8ff298840068"}, {"label": "subtasks", "start_step": 488, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it rightward and upward to the area above the purple pegs on the wooden board."}, {"label": "subtasks", "start_step": 510, "end_step": 621, "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 a purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 645, "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: retreat: Right hand moves slightly upward away from the white hexagonal block while empty."}, {"label": "goal", "start_step": 652, "end_step": 753, "id": "a49fdba1-6597-413c-9afb-500ae5bf98b5"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "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 purple vertical rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 754, "end_step": 927, "id": "077e8c52-fe6b-4518-bf07-23c27d0579fc"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "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 black table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "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 peg by aligning the central hole with the peg and lowering the block downwards."}, {"label": "subtasks", "start_step": 832, "end_step": 914, "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 purple peg without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 928, "end_step": 1074, "id": "d90f61ab-d32e-4d61-90e5-7d6b6f4dc22c"}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "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 cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1075, "end_step": 1353, "id": "b3975d7b-76be-4701-80b9-d28a59c513a2"}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "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 hollow cylindrical object off the table and transports it upward and rightward to the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1155, "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: mate: Right hand aligns the white hollow cylindrical object with the purple vertical rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1342, "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 hollow cylindrical object fitted on the purple rod, with fingers opening and separating from the object."}, {"label": "goal", "start_step": 1354, "end_step": 1500, "id": "e8746bbd-ec0f-4817-b3a8-777a88fc89b1"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1410, "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 grasps the green hexagonal block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "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: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1704, "id": "5287070e-aad3-4e92-aae7-19a2d7938832"}, {"label": "subtasks", "start_step": 1515, "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: lift_transport: Right hand lifts and transports the green cubic block towards the purple rod on the wooden base."}, {"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: mate: Right hand aligns the green cubic block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00036", "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 purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1694, "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 green cubic block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1695, "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: release: Right hand releases the green hexagonal block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1705, "end_step": 1848, "id": "a7d3d301-4268-4fbe-b72c-6b8c614b0eca"}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "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 table in front of the green block."}, {"label": "subtasks", "start_step": 1778, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 1849, "end_step": 2049, "id": "76829b69-e45c-4eeb-a2e2-9187a78a00f9"}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the black table and transports it upward and leftward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the target peg on the wooden rack, lowering the cylinder to fit onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the wooden rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "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: reach: Right hand moves downward from the area near the stacked blocks on the table to approach the white cylindrical object below the stacked blocks."}, {"label": "goal", "start_step": 2050, "end_step": 2178, "id": "a0a6b4d0-a034-448f-b25b-82680d03f024"}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "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 touches the white cylindrical object on the table and closes its fingers to grasp the object."}, {"label": "goal", "start_step": 2179, "end_step": 2424, "id": "4194fed4-72e2-471b-9a42-c1060ab213e9"}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "id": "reasoning-language-00046", "text": "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 until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00047", "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 and leftward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and moves it downward to fit the block onto the rod."}, {"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 table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}, {"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 table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the wooden base toward the white hollow block on the black table."}, {"label": "goal", "start_step": 2425, "end_step": 2595, "id": "573e0dbd-c5c7-4c9b-8c8d-ba64c650327f"}, {"label": "subtasks", "start_step": 2475, "end_step": 2609, "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 its fingers to establish a grasp on the white hollow block on the table surface."}, {"label": "goal", "start_step": 2596, "end_step": 3327, "id": "1a8608b1-6300-4614-8d68-129948d5e7b7"}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "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 white hollow cylinder up from the table and transports it left-upward toward the purple rod on the middle wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "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 white hollow cylinder with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00054", "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 hollow cylinder downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2722, "end_step": 3277, "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 hollow cylinder steadily on the purple rod without moving."}, {"label": "subtasks", "start_step": 3278, "end_step": 3299, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating from the cylinder."}, {"label": "subtasks", "start_step": 3300, "end_step": 3314, "id": "reasoning-language-00057", "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 purple rod after releasing the cylinder."}, {"label": "subtasks", "start_step": 3315, "end_step": 3389, "id": "reasoning-language-00058", "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 and leftward to the green cubic block on the table, closing its fingers to grasp the block upon contact."}, {"label": "goal", "start_step": 3328, "end_step": 3444, "id": "0beeb4a6-b8d0-4fb7-a057-c7df7c8d3b7f"}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "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 green cubic block on the table without observable movement."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 3445, "end_step": 4218, "id": "ec271174-99a4-4507-892d-379f4c7c532e"}, {"label": "subtasks", "start_step": 3472, "end_step": 3494, "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 upward from the black table until the block is fully off the supporting surface."}, {"label": "subtasks", "start_step": 3495, "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: transport: Right hand transports the green block upward and leftward to the position above the rightmost vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 3585, "end_step": 4177, "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 mates the green block with the rightmost vertical rod, aligning the central hole with the rod and adjusting the block's vertical position along the rod repeatedly."}, {"label": "subtasks", "start_step": 4178, "end_step": 4229, "id": "reasoning-language-00064", "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 by opening its fingers, then retreats upward from the operation position."}, {"label": "home", "start_step": 4244, "end_step": 4277, "id": "sRPZtCOQAPx8R5baH_1JV"}], "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 table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green block on the table to the left of the wooden rack, keeping empty and not touching any object."}, {"label": "subtasks", "start_step": 128, "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 closes fingers around the green block on the table and makes slight adjustments to stabilize the 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: hold: Right hand holds the green block on the table without any observable movement."}, {"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 dark table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 218, "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: lift: Right hand lifts the green cubic block upward from the table surface until it is fully in the air."}, {"label": "subtasks", "start_step": 232, "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: transport: Right hand transports the green cubic block upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 248, "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: mate: Right hand aligns the green cubic block with the middle purple peg and moves it downward to fit the block onto the peg."}, {"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: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green square block onto the bottom wooden board of the left purple vertical rod and releases the block."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "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 and forward from the pegboard area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "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 closing."}, {"label": "subtasks", "start_step": 458, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "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, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 488, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it rightward and upward to the area above the purple pegs on the wooden board."}, {"label": "subtasks", "start_step": 510, "end_step": 621, "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 a purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 645, "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: retreat: Right hand moves slightly upward away from the white hexagonal block while empty."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "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 purple vertical rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "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 black table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "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 peg by aligning the central hole with the peg and lowering the block downwards."}, {"label": "subtasks", "start_step": 832, "end_step": 914, "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 purple peg without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "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 cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "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 hollow cylindrical object off the table and transports it upward and rightward to the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1155, "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: mate: Right hand aligns the white hollow cylindrical object with the purple vertical rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1342, "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 hollow cylindrical object fitted on the purple rod, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1410, "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 grasps the green hexagonal block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "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: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1515, "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: lift_transport: Right hand lifts and transports the green cubic block towards the purple rod on the wooden base."}, {"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: mate: Right hand aligns the green cubic block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00036", "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 purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1694, "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 green cubic block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1695, "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: release: Right hand releases the green hexagonal block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "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 table in front of the green block."}, {"label": "subtasks", "start_step": 1778, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the black table and transports it upward and leftward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the target peg on the wooden rack, lowering the cylinder to fit onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the wooden rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "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: reach: Right hand moves downward from the area near the stacked blocks on the table to approach the white cylindrical object below the stacked blocks."}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "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 touches the white cylindrical object on the table and closes its fingers to grasp the object."}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "id": "reasoning-language-00046", "text": "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 until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00047", "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 and leftward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and moves it downward to fit the block onto the rod."}, {"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 table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}, {"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 table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the wooden base toward the white hollow block on the black table."}, {"label": "subtasks", "start_step": 2475, "end_step": 2609, "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 its fingers to establish a grasp on the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "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 white hollow cylinder up from the table and transports it left-upward toward the purple rod on the middle wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "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 white hollow cylinder with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00054", "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 hollow cylinder downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2722, "end_step": 3277, "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 hollow cylinder steadily on the purple rod without moving."}, {"label": "subtasks", "start_step": 3278, "end_step": 3299, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating from the cylinder."}, {"label": "subtasks", "start_step": 3300, "end_step": 3314, "id": "reasoning-language-00057", "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 purple rod after releasing the cylinder."}, {"label": "subtasks", "start_step": 3315, "end_step": 3389, "id": "reasoning-language-00058", "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 and leftward to the green cubic block on the table, closing its fingers to grasp the block upon contact."}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "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 green cubic block on the table without observable movement."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3472, "end_step": 3494, "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 upward from the black table until the block is fully off the supporting surface."}, {"label": "subtasks", "start_step": 3495, "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: transport: Right hand transports the green block upward and leftward to the position above the rightmost vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 3585, "end_step": 4177, "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 mates the green block with the rightmost vertical rod, aligning the central hole with the rod and adjusting the block's vertical position along the rod repeatedly."}, {"label": "subtasks", "start_step": 4178, "end_step": 4229, "id": "reasoning-language-00064", "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 by opening its fingers, then retreats upward from the operation position."}], "episode_index": 4}
+{"source_uid": "23dcde824ab93bd0", "num_frames": 4378, "annotation_status": "loaded", "has_annotation": true, "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 any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty at its initial right-side position in the workspace, with no active movement toward the central table objects."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "fe9e0f03-5f2a-4ef7-a768-6da14f870440"}, {"label": "valid", "start_step": 0, "end_step": 4347, "id": "c072r9CDHdSX9iPpyK_8J"}, {"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 without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block resting on the table in front of the wooden block assembly, holding fingers open as it approaches without touching the block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes its fingers around the block to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block that stays resting on the table, with no observable movement of the hand, fingers, or the block during this period."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grip on the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 187, "end_step": 390, "id": "9af0980b-2d06-47d1-86a5-7e15d3c4d050"}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, moves the block upward and toward the wooden pegboard to position it above a purple vertical peg."}, {"label": "subtasks", "start_step": 270, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moves the block downward to slide it onto the peg until the block rests stably on the wooden pegboard surface."}, {"label": "subtasks", "start_step": 382, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard to approach the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 391, "end_step": 528, "id": "504b10a5-c0c6-447a-8d70-bc50bd1896e9"}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes slight finger and wrist adjustments around the white hexagonal block, closing fingers to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without any visible movement of the hand or the block."}, {"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 active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts its fingers and wrist to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "goal", "start_step": 529, "end_step": 720, "id": "6dd26f02-3e96-4210-b0c8-cf243f229dee"}, {"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 without any active movement toward or contact with objects throughout the segment. | 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 post on the wooden assembly base."}, {"label": "subtasks", "start_step": 570, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple post, and moves it downward to fit onto the post until it rests on the green block below."}, {"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 workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white topped block, aligns and fits it onto the corresponding purple post on the wooden assembly base, opens fingers to release the assembled block."}, {"label": "goal", "start_step": 721, "end_step": 825, "id": "a7e753aa-f165-4f40-a18c-27245f6cd21a"}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the dark table surface, with fingers slightly open, not yet contacting the block."}, {"label": "subtasks", "start_step": 765, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts wrist position and finger contact points, and gradually closes fingers to establish a stable grip on the block."}, {"label": "goal", "start_step": 826, "end_step": 978, "id": "20e73073-5837-4e05-a01d-3c7c9fdb3be2"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 878, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the two parts."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the wooden peg on the light wooden base, presses it down to fit onto the peg and releases the block."}, {"label": "goal", "start_step": 979, "end_step": 1092, "id": "ba2f45e9-e4ce-45a5-8423-7c02a74f0c60"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block near the wooden base on the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close and adjust position to form a grip on the block."}, {"label": "goal", "start_step": 1093, "end_step": 1236, "id": "855243d2-2bfa-4360-a4cf-ba82aee72e29"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit it onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1237, "end_step": 1317, "id": "8866b0f3-df22-4c6e-a43f-90a8e3e967ae"}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grip."}, {"label": "goal", "start_step": 1318, "end_step": 1482, "id": "940e0072-03d3-46c2-b3b6-c38c4299a28f"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the upper area near the wooden block assembly, approaching the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1483, "end_step": 1584, "id": "3689ed39-8384-4c81-8b71-7c336cc57b5a"}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close around the block and make slight positional adjustments to establish a firm grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1585, "end_step": 1797, "id": "b753e863-27c3-4da1-8b08-8ea83742b153"}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves from the area above the wooden block stand toward the white hexagonal block near the stand on the table, with fingers open, approaching the target block."}, {"label": "goal", "start_step": 1798, "end_step": 2396, "id": "500053bb-1d0c-409a-9820-3df0bc2daab4"}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block while the block remains on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1980, "end_step": 2211, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning the block's hole with the purple rod to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2287, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal block away from the purple rod, moving rightward and downward back toward the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface until the block is supported by the table, then opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty above the placed white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger position around the white hexagonal block resting on the dark table surface to form a stable grasp."}, {"label": "goal", "start_step": 2397, "end_step": 2579, "id": "cef8f212-3128-430d-8fff-da2c68fc2631"}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and leftward through the air to position it above the vertical purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the vertical purple rod, lowers the block to fit it onto the rod, and establishes the assembled connection between the block and rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2571, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any movement of the hand or block."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper right area toward the white hexagonal block placed on the dark table surface, with fingers slightly spread as it approaches the target."}, {"label": "goal", "start_step": 2580, "end_step": 2789, "id": "fac7ae77-19e0-48aa-a761-ea4bfed9a387"}, {"label": "subtasks", "start_step": 2618, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, adjusts finger closure and wrist angle to secure the grip, making slight rotational and positional adjustments to the block during the grasping process."}, {"label": "subtasks", "start_step": 2730, "end_step": 2789, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand maintains a stable grasp on the white hexagonal block resting on the table, with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 2790, "end_step": 2975, "id": "ad7f2792-8a3b-4e8c-b98c-53abd6e008dd"}, {"label": "subtasks", "start_step": 2812, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward toward the wooden block rack holding stacked white and green blocks."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg, with no visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block, separating fully from the block surface by the end of the segment."}, {"label": "subtasks", "start_step": 2970, "end_step": 2977, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: retreat: Right hand moves backward away from the white hexagonal block positioned on the rack."}, {"label": "goal", "start_step": 2976, "end_step": 4004, "id": "6b8059ea-2e9c-488d-9343-83f28b27bc7f"}, {"label": "subtasks", "start_step": 2978, "end_step": 3021, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper-right area near the wooden tray toward the green cube placed on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 3022, "end_step": 3097, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube, and adjusts finger positions to form a stable grip while the cube remains resting on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3111, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the securely grasped green cube upward, raising the cube completely off the dark table surface."}, {"label": "subtasks", "start_step": 3112, "end_step": 3164, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cube upward and leftward, moving the cube to a position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3165, "end_step": 3764, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green cube steadily above the purple-capped bottle on the wooden tray, with no visible movement of the hand, fingers, or the grasped cube."}, {"label": "subtasks", "start_step": 3765, "end_step": 3831, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green cube away from the area above the purple-capped bottle, moving the cube downward and rightward back toward the dark table surface."}, {"label": "subtasks", "start_step": 3832, "end_step": 3899, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green cube onto the dark table surface until the cube is fully supported by the table, then opens fingers to release the cube and separate from its surface."}, {"label": "subtasks", "start_step": 3900, "end_step": 3981, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty and stationary directly above the placed green cube on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 3982, "end_step": 4004, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand moves fingers downward to make contact with the top of the green cube, closing fingers around the cube to initiate a new grip."}, {"label": "subtasks", "start_step": 4005, "end_step": 4019, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block resting on the black table surface and lifts it upward until the block is fully separated from the table."}, {"label": "goal", "start_step": 4005, "end_step": 4325, "id": "f5014e7d-3db0-44bf-a1ae-669e24a8ca71"}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block to move upward and leftward toward the area above the wooden block rack."}, {"label": "subtasks", "start_step": 4072, "end_step": 4161, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reorient: Right hand slightly rotates the green hexagonal block to adjust its posture while keeping roughly the same position above the purple cylindrical object for alignment."}, {"label": "subtasks", "start_step": 4162, "end_step": 4214, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block to move rightward to the position above the rightmost white cylindrical block on the wooden rack."}, {"label": "subtasks", "start_step": 4215, "end_step": 4289, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block steadily above the rightmost white cylindrical block without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 4290, "end_step": 4334, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block downward to place it on the top surface of the rightmost white cylindrical block, then opens the fingers to release the block."}, {"label": "home", "start_step": 4348, "end_step": 4377, "id": "ZnR2HGFQt_sLyZrzlgs1q"}], "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 any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty at its initial right-side position in the workspace, with no active movement toward the central table objects."}, {"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 without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block resting on the table in front of the wooden block assembly, holding fingers open as it approaches without touching the block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes its fingers around the block to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block that stays resting on the table, with no observable movement of the hand, fingers, or the block during this period."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grip on the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, moves the block upward and toward the wooden pegboard to position it above a purple vertical peg."}, {"label": "subtasks", "start_step": 270, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moves the block downward to slide it onto the peg until the block rests stably on the wooden pegboard surface."}, {"label": "subtasks", "start_step": 382, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard to approach the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes slight finger and wrist adjustments around the white hexagonal block, closing fingers to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without any visible movement of the hand or the block."}, {"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 active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts its fingers and wrist to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"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 without any active movement toward or contact with objects throughout the segment. | 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 post on the wooden assembly base."}, {"label": "subtasks", "start_step": 570, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple post, and moves it downward to fit onto the post until it rests on the green block below."}, {"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 workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white topped block, aligns and fits it onto the corresponding purple post on the wooden assembly base, opens fingers to release the assembled block."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the dark table surface, with fingers slightly open, not yet contacting the block."}, {"label": "subtasks", "start_step": 765, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts wrist position and finger contact points, and gradually closes fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 878, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the two parts."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the wooden peg on the light wooden base, presses it down to fit onto the peg and releases the block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block near the wooden base on the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close and adjust position to form a grip on the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit it onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the upper area near the wooden block assembly, approaching the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close around the block and make slight positional adjustments to establish a firm grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves from the area above the wooden block stand toward the white hexagonal block near the stand on the table, with fingers open, approaching the target block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block while the block remains on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1980, "end_step": 2211, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning the block's hole with the purple rod to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2287, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal block away from the purple rod, moving rightward and downward back toward the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface until the block is supported by the table, then opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty above the placed white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger position around the white hexagonal block resting on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and leftward through the air to position it above the vertical purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the vertical purple rod, lowers the block to fit it onto the rod, and establishes the assembled connection between the block and rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2571, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any movement of the hand or block."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper right area toward the white hexagonal block placed on the dark table surface, with fingers slightly spread as it approaches the target."}, {"label": "subtasks", "start_step": 2618, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, adjusts finger closure and wrist angle to secure the grip, making slight rotational and positional adjustments to the block during the grasping process."}, {"label": "subtasks", "start_step": 2730, "end_step": 2789, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand maintains a stable grasp on the white hexagonal block resting on the table, with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2812, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward toward the wooden block rack holding stacked white and green blocks."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg, with no visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block, separating fully from the block surface by the end of the segment."}, {"label": "subtasks", "start_step": 2970, "end_step": 2977, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: retreat: Right hand moves backward away from the white hexagonal block positioned on the rack."}, {"label": "subtasks", "start_step": 2978, "end_step": 3021, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper-right area near the wooden tray toward the green cube placed on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 3022, "end_step": 3097, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube, and adjusts finger positions to form a stable grip while the cube remains resting on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3111, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the securely grasped green cube upward, raising the cube completely off the dark table surface."}, {"label": "subtasks", "start_step": 3112, "end_step": 3164, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cube upward and leftward, moving the cube to a position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3165, "end_step": 3764, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green cube steadily above the purple-capped bottle on the wooden tray, with no visible movement of the hand, fingers, or the grasped cube."}, {"label": "subtasks", "start_step": 3765, "end_step": 3831, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green cube away from the area above the purple-capped bottle, moving the cube downward and rightward back toward the dark table surface."}, {"label": "subtasks", "start_step": 3832, "end_step": 3899, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green cube onto the dark table surface until the cube is fully supported by the table, then opens fingers to release the cube and separate from its surface."}, {"label": "subtasks", "start_step": 3900, "end_step": 3981, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty and stationary directly above the placed green cube on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 3982, "end_step": 4004, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand moves fingers downward to make contact with the top of the green cube, closing fingers around the cube to initiate a new grip."}, {"label": "subtasks", "start_step": 4005, "end_step": 4019, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block resting on the black table surface and lifts it upward until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block to move upward and leftward toward the area above the wooden block rack."}, {"label": "subtasks", "start_step": 4072, "end_step": 4161, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reorient: Right hand slightly rotates the green hexagonal block to adjust its posture while keeping roughly the same position above the purple cylindrical object for alignment."}, {"label": "subtasks", "start_step": 4162, "end_step": 4214, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block to move rightward to the position above the rightmost white cylindrical block on the wooden rack."}, {"label": "subtasks", "start_step": 4215, "end_step": 4289, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block steadily above the rightmost white cylindrical block without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 4290, "end_step": 4334, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block downward to place it on the top surface of the rightmost white cylindrical block, then opens the fingers to release the block."}], "episode_index": 5}
+{"source_uid": "33ef90cf5e9990e0", "num_frames": 2764, "annotation_status": "loaded", "has_annotation": true, "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 leftward and downward toward the green hexagonal block at the left front of the wooden peg base, with wrist rotating slightly to adjust orientation and fingers keeping slightly open, approaching the target."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "50f26a60-bbbd-45cc-81b1-e029fffc2668"}, {"label": "valid", "start_step": 0, "end_step": 2733, "id": "NZ55fdToTGy7nAdc2KbwZ"}, {"label": "subtasks", "start_step": 112, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting slightly to establish a stable grip."}, {"label": "goal", "start_step": 205, "end_step": 375, "id": "26590ac3-f6eb-43a3-998f-607afec777e0"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 248, "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: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down along the leftmost peg until the block is stably supported."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"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 table without moving. | Right hand: reach: Right hand moves down and left from the upper wooden rack area, approaching the white hexagonal block on the table."}, {"label": "goal", "start_step": 376, "end_step": 489, "id": "3569aec0-86ad-4008-8109-fc95ebac2466"}, {"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 table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: 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": 480, "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 490, "end_step": 657, "id": "8fbc06af-97fd-4797-8047-33a9b24d5aa7"}, {"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 block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}, {"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 aligns the central hole of the white hexagonal block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 548, "end_step": 644, "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 slides the white hexagonal block down along the leftmost purple peg until it rests on the green base block."}, {"label": "subtasks", "start_step": 645, "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_release: Right hand fits the white holed block onto the leftmost green block's peg and releases the grip."}, {"label": "goal", "start_step": 658, "end_step": 753, "id": "772c010d-39e9-4923-9be5-b1b670acbab4"}, {"label": "subtasks", "start_step": 668, "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: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 698, "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: Right hand grasps the white hexagonal block on the left side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 754, "end_step": 1053, "id": "b2982a85-d5c1-4cfe-a818-73bdb3df15de"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "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 table surface and transports it upward and rightward toward the pegboard."}, {"label": "subtasks", "start_step": 802, "end_step": 891, "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 top of the leftmost purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 892, "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: hold: Right hand holds the white hexagonal part on the leftmost purple peg without moving."}, {"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: press_release: Right hand presses down the white cylindrical block on the rightmost purple peg of the wooden base and releases it quickly."}, {"label": "goal", "start_step": 1054, "end_step": 1179, "id": "b5a867d5-89ec-442e-9cf5-e15dad8c5030"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "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 and leftwards towards the white hexagonal block with a central hole on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1199, "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, with slight downward adjustment to stabilize the grip."}, {"label": "goal", "start_step": 1180, "end_step": 1323, "id": "72f7e641-4a26-4582-9a48-ef019a712881"}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while transporting it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical peg on the wooden base and releases the part."}, {"label": "goal", "start_step": 1324, "end_step": 1416, "id": "858e4866-9791-4668-bd2b-f08adf196f27"}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the green hollow square block on the dark table surface and grasps it with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "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 cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1417, "end_step": 1590, "id": "01b54d92-5b9d-44ce-8961-ac24723c4d75"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "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 cubic block off the table and transports it upward and rightward to the top of the target purple peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block with the target purple peg by inserting it downward and releases the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "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 ring on the top of the purple vertical rod, with fingers opening and separating from the ring."}, {"label": "goal", "start_step": 1591, "end_step": 1680, "id": "60445518-ea1f-4719-95b4-0e91fa6c8683"}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white holed hexagonal object on the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "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 holed hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1681, "end_step": 1866, "id": "a3a99158-c9a2-49a5-9133-f7c6bebaad35"}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "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 hollow cylinder from the table surface and transports it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the green post on the wooden rack and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on top of the green block stack at the center-top area of the table."}, {"label": "goal", "start_step": 1867, "end_step": 1962, "id": "e3ad98e9-c6c5-41df-8815-eba90a6ecda4"}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward and rightward away from the center-top block stack."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1963, "end_step": 2142, "id": "3310dcf9-94fc-4b49-a82a-4d249b1c83a6"}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00040", "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 toward the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "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 aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the rightmost white block of the rack downward."}, {"label": "goal", "start_step": 2143, "end_step": 2244, "id": "fb8ab218-8284-41a7-8557-6ae03e2bbe03"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "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 left toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "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 table without moving."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "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 cubic block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2245, "end_step": 2442, "id": "03d33bd9-211c-43d9-9536-66199a068d1c"}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "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 cubic block from the black table and transports it to the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2429, "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 cubic block with the purple rod on the wooden rack, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray downward."}, {"label": "goal", "start_step": 2443, "end_step": 2532, "id": "99642ed5-3177-41f9-8604-addcfde48c45"}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "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 reaches toward the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2533, "end_step": 2697, "id": "f18c4bc6-e2cf-49a2-b15c-2d4f75e22a0c"}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "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 cubic block from the table surface and transports it toward the wooden rack with white cylindrical bottles."}, {"label": "subtasks", "start_step": 2588, "end_step": 2677, "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 cubic block with the rightmost white bottle on the wooden rack and mates it onto the bottle by moving downward until the block is supported."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "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 cubic block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2734, "end_step": 2763, "id": "UB1rmiy5sZj_0xOlaz7pm"}], "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 leftward and downward toward the green hexagonal block at the left front of the wooden peg base, with wrist rotating slightly to adjust orientation and fingers keeping slightly open, approaching the target."}, {"label": "subtasks", "start_step": 112, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 248, "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: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down along the leftmost peg until the block is stably supported."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"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 table without moving. | Right hand: reach: Right hand moves down and left from the upper wooden rack area, approaching the white hexagonal block on the table."}, {"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 table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: 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": 480, "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 black table surface, with fingers adjusting to form a stable grip."}, {"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 block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}, {"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 aligns the central hole of the white hexagonal block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 548, "end_step": 644, "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 slides the white hexagonal block down along the leftmost purple peg until it rests on the green base block."}, {"label": "subtasks", "start_step": 645, "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_release: Right hand fits the white holed block onto the leftmost green block's peg and releases the grip."}, {"label": "subtasks", "start_step": 668, "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: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 698, "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: Right hand grasps the white hexagonal block on the left side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "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 table surface and transports it upward and rightward toward the pegboard."}, {"label": "subtasks", "start_step": 802, "end_step": 891, "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 top of the leftmost purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 892, "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: hold: Right hand holds the white hexagonal part on the leftmost purple peg without moving."}, {"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: press_release: Right hand presses down the white cylindrical block on the rightmost purple peg of the wooden base and releases it quickly."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "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 and leftwards towards the white hexagonal block with a central hole on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1199, "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, with slight downward adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while transporting it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical peg on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the green hollow square block on the dark table surface and grasps it with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "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 cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "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 cubic block off the table and transports it upward and rightward to the top of the target purple peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block with the target purple peg by inserting it downward and releases the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "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 ring on the top of the purple vertical rod, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white holed hexagonal object on the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "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 holed hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "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 hollow cylinder from the table surface and transports it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the green post on the wooden rack and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on top of the green block stack at the center-top area of the table."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward and rightward away from the center-top block stack."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00040", "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 toward the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "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 aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the rightmost white block of the rack downward."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "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 left toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "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 table without moving."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "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 cubic block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "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 cubic block from the black table and transports it to the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2429, "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 cubic block with the purple rod on the wooden rack, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray downward."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "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 reaches toward the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "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 cubic block from the table surface and transports it toward the wooden rack with white cylindrical bottles."}, {"label": "subtasks", "start_step": 2588, "end_step": 2677, "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 cubic block with the rightmost white bottle on the wooden rack and mates it onto the bottle by moving downward until the block is supported."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "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 cubic block, with fingers opening and separating from the block."}], "episode_index": 6}
+{"source_uid": "7f578e1ba0b16f91", "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": 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 toward the leftmost white hexagonal block on the wooden base, without contacting the object."}, {"label": "goal", "start_step": 0, "end_step": 177, "id": "1a7bb7db-68a1-4e05-9523-192c8b03d9ab"}, {"label": "valid", "start_step": 0, "end_step": 3371, "id": "_QsmPmVuGzK4aEOYDsrDQ"}, {"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: 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"reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder near the wooden rack on the desktop."}, {"label": "goal", "start_step": 1009, "end_step": 1122, "id": "5931fef4-85ff-4fe8-82b1-6678b3371b7e"}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "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 touches the white hexagonal cylinder and adjusts fingers to form a stable grasp on it."}, {"label": "goal", "start_step": 1123, "end_step": 1302, "id": "1263265f-c143-4c95-b37d-f50ec36b82d3"}, {"label": "subtasks", "start_step": 1140, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple vertical rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "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 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1455, "end_step": 1484, "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 cube with the target post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1485, "end_step": 1551, "id": "reasoning-language-00029", "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 cube down along the post to fix it in position."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "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 cube and slightly moves away from the rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "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 towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1564, "end_step": 1680, "id": "5a5422ac-b2d8-436d-a9b2-8cfc63a9edc7"}, {"label": "subtasks", "start_step": 1612, "end_step": 1701, "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 touches the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1681, "end_step": 2322, "id": "63e9b8dc-dab7-4104-8a1b-29cb4ee062e2"}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "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 hollow cylinder from the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 2107, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 2108, "end_step": 2309, "id": "reasoning-language-00035", "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 hollow cylinder down along the purple peg to adjust its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "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 hexagonal block onto the vacant position of the wooden tray."}, {"label": "goal", "start_step": 2323, "end_step": 2487, "id": "6d24aa74-a706-4399-96b0-1bba0e09f7fd"}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "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 hexagonal block placed on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2407, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table near the green square block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2497, "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 touches the white hexagonal block on the table, closes fingers to form and adjust the grasp on the block."}, {"label": "goal", "start_step": 2488, "end_step": 2646, "id": "3ac25820-6b13-4e22-b783-39d03545d749"}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "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 hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 2647, "end_step": 2742, "id": "ae1fe1b6-0375-4446-b8eb-dfec576d2d8b"}, {"label": "subtasks", "start_step": 2655, "end_step": 2684, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2685, "end_step": 2767, "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 adjusts fingers to grasp the white hexagonal object on the table."}, {"label": "goal", "start_step": 2743, "end_step": 3054, "id": "9959de33-63ea-4499-8c95-cbf4882e113c"}, {"label": "subtasks", "start_step": 2768, "end_step": 2804, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the wooden rack with multiple blocks."}, {"label": "subtasks", "start_step": 2805, "end_step": 2887, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 3044, "id": "reasoning-language-00048", "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 block down along the purple rod to secure it, then releases the block."}, {"label": "subtasks", "start_step": 3045, "end_step": 3081, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple part on the white bottle fixed on the wooden rack."}, {"label": "goal", "start_step": 3055, "end_step": 3183, "id": "58dfe534-e283-4730-b467-5a3512db4cea"}, {"label": "subtasks", "start_step": 3082, "end_step": 3141, "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 table."}, {"label": "subtasks", "start_step": 3142, "end_step": 3201, "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 table surface."}, {"label": "goal", "start_step": 3184, "end_step": 3342, "id": "f7399657-cba2-4476-b23e-568792e2b1bb"}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "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 off the tabletop and transports it to the position above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3240, "end_step": 3307, "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 top of the target white bottle and inserts the block onto the bottle."}, {"label": "subtasks", "start_step": 3308, "end_step": 3344, "id": "reasoning-language-00054", "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 bottle to secure it in place."}, {"label": "home", "start_step": 3372, "end_step": 3402, "id": "LvwuK0O1jtfIt5TQpFPw9"}], "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 toward the leftmost white hexagonal block on the wooden base, without contacting the object."}, {"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 fingers to grasp the leftmost white hexagonal block on the wooden base, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, moving it away from the supporting wooden base."}, {"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 table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 195, "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 purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left 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pillar on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 360, "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: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 412, "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 approaches the white hexagonal block, fingers close and adjust to establish stable grasp on the block."}, {"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 grasped white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 555, "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: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the central hole of the block with the top of the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 660, "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: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 787, "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 wooden peg board toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "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 contacts the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 892, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder near the wooden rack on the desktop."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "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 touches the white hexagonal cylinder and adjusts fingers to form a stable grasp on it."}, {"label": "subtasks", "start_step": 1140, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple vertical rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "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 block rack towards the green cubic block on the black tabletop, not contacting the block yet."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "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 cubic block on the tabletop, fingers adjust to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "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 cube off the tabletop and transports it to the area above the wooden post rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "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 cube with the target post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1485, "end_step": 1551, "id": "reasoning-language-00029", "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 cube down along the post to fix it in position."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "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 cube and slightly moves away from the rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "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 towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1612, "end_step": 1701, "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 touches the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "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 hollow cylinder from the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 2107, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 2108, "end_step": 2309, "id": "reasoning-language-00035", "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 hollow cylinder down along the purple peg to adjust its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "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 hexagonal block onto the vacant position of the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "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 hexagonal block placed on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2407, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table near the green square block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2497, "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 touches the white hexagonal block on the table, closes fingers to form and adjust the grasp on the block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "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 hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2655, "end_step": 2684, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2685, "end_step": 2767, "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 adjusts fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2768, "end_step": 2804, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the wooden rack with multiple blocks."}, {"label": "subtasks", "start_step": 2805, "end_step": 2887, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 3044, "id": "reasoning-language-00048", "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 block down along the purple rod to secure it, then releases the block."}, {"label": "subtasks", "start_step": 3045, "end_step": 3081, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple part on the white bottle fixed on the wooden rack."}, {"label": "subtasks", "start_step": 3082, "end_step": 3141, "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 table."}, {"label": "subtasks", "start_step": 3142, "end_step": 3201, "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 table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "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 off the tabletop and transports it to the position above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3240, "end_step": 3307, "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 top of the target white bottle and inserts the block onto the bottle."}, {"label": "subtasks", "start_step": 3308, "end_step": 3344, "id": "reasoning-language-00054", "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 bottle to secure it in place."}], "episode_index": 7}
+{"source_uid": "9d4e97605f4653c5", "num_frames": 3509, "annotation_status": "loaded", "has_annotation": true, "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 moving throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious translational movement."}, {"label": "goal", "start_step": 0, "end_step": 210, "id": "fb647039-54b3-4399-ae64-7f77698d2234"}, {"label": "valid", "start_step": 0, "end_step": 3477, "id": "D8Hfp66HJfNm_OWJ07dlY"}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty leftward toward the green hexagonal nut adjacent to the wooden peg base on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers and makes small contact adjustments to establish grip on the green hexagonal nut adjacent to the wooden peg base."}, {"label": "goal", "start_step": 211, "end_step": 360, "id": "efdd125b-f415-430f-a21f-da4ddec3a031"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the firmly gripped green block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the lifted green block upward toward the purple vertical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green block seated on the purple peg without any observable movement of the hand, fingers or block."}, {"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 without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block resting on the purple peg."}, {"label": "goal", "start_step": 361, "end_step": 453, "id": "1f4d7893-e75c-4e88-96de-04c447408d33"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the front white hexagonal block on the table, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers gradually close and make small positional adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 454, "end_step": 615, "id": "33eca41f-a07c-4be7-b50a-36900f5bae44"}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the held white hexagonal nut, keeping its position roughly unchanged above the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod and lowers it slightly to fit the rod into the hole, establishing the mating connection."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until the nut rests stably on the green base block beneath the rod, fully supported by the base."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating the hand completely from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden block assembly toward the loose white hexagonal block on the black table surface, with fingers extended during the approach."}, {"label": "goal", "start_step": 616, "end_step": 720, "id": "5e767271-c820-48d9-af52-902e5b877699"}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip, with the block remaining in contact with the table surface."}, {"label": "goal", "start_step": 721, "end_step": 903, "id": "0f004f0a-b545-48d8-8380-19e358999b26"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut backward to the position directly above a purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 765, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then slides the nut down the peg until it rests on the lower nut."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is stably supported by the purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: press: Right hand presses vertically downward on the top white hexagonal block on the leftmost purple post of the wooden stand to seat the block fully in place."}, {"label": "goal", "start_step": 904, "end_step": 1014, "id": "802bb7b2-c0ad-4483-af8d-e672f12f51a5"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block resting on the table surface in front of the wooden stand, with fingers held in an open posture."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grip, while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table without any visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions to stabilize grasp on the white hexagonal cylinder resting on the table near the wooden rack."}, {"label": "goal", "start_step": 1015, "end_step": 1218, "id": "47e4e1f6-e10a-4a34-a5a2-5debb99298ff"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder toward the area directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and lowers it to fit snugly onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal cylinder onto the purple post."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves away from the assembled post as an empty hand in a retreating motion."}, {"label": "goal", "start_step": 1219, "end_step": 1293, "id": "ac48787e-9fa6-4709-af06-d427c5141a30"}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the dark table surface, fingers held in a slightly spread posture before contacting the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and making small positional adjustments to form a grip on the block which remains resting on the table."}, {"label": "goal", "start_step": 1294, "end_step": 1539, "id": "a042e0c4-b7a3-42c4-bc44-e929560b6df5"}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, and transports it upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1350, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple peg of the wooden assembly base, separating from the block."}, {"label": "goal", "start_step": 1540, "end_step": 1728, "id": "4445c427-4372-4da8-9176-17152d2e37aa"}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without moving, with no visible change in hand shape or object position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal cylinder resting on the black table surface."}, {"label": "goal", "start_step": 1729, "end_step": 1896, "id": "f128cef6-86b8-4293-b49c-e43f16100561"}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal cylinder through the air toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, moves the cylinder downward to fit onto the rod, and adjusts its position during assembly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block placed on the table near the wooden block tray, with fingers held slightly open."}, {"label": "goal", "start_step": 1897, "end_step": 2004, "id": "432e106b-11e2-4fa6-86c3-0b38822f1858"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the tray, adjusting finger contact to establish a grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, then lifts the block upward until it is completely off the table."}, {"label": "goal", "start_step": 2005, "end_step": 2499, "id": "287e22f4-073d-4c31-b719-721ad109a670"}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple vertical rod on the wooden base, moving the block to the position directly above the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, then lowers the block to fit it onto the rod until it rests stably on the stacked block below."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty slightly upward, retreating from the position of the assembled white block on the purple rod."}, {"label": "goal", "start_step": 2500, "end_step": 2652, "id": "2fca7326-7c70-4e08-af16-6d134b5bfc1d"}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the green block, with fingers slightly spread, and does not touch the block yet."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closes fingers gradually and makes small adjustments to form a stable grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the black table steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block resting on the black table surface beside the green block, closing fingers to establish a stable grip while the block remains on the table."}, {"label": "goal", "start_step": 2653, "end_step": 3060, "id": "21acb6e3-fcff-416c-8a09-f0dff2abadc4"}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the black table surface and carries it upward toward the wooden block rack, positioning the block directly above the vertical purple rod atop the stacked blocks."}, {"label": "subtasks", "start_step": 2730, "end_step": 3007, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the vertical purple rod, making small positional and rotational adjustments to fit the block onto the rod while lowering it toward the supporting block below."}, {"label": "subtasks", "start_step": 3008, "end_step": 3021, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block to rest fully on the supporting block on the rack, opening its fingers to release grip on the now-stationary block."}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty away from the stacked blocks on the wooden rack, retracting toward the right side of the workspace."}, {"label": "subtasks", "start_step": 3060, "end_step": 3111, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green holed cubic block on the table with fingers slightly spread."}, {"label": "goal", "start_step": 3061, "end_step": 3171, "id": "dc849a2c-da9a-46f7-a1e4-6e0f9695b0c8"}, {"label": "subtasks", "start_step": 3112, "end_step": 3187, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed cubic block on the table, adjusting finger contact positions to form a grip."}, {"label": "goal", "start_step": 3172, "end_step": 3438, "id": "cfe474f1-3c04-47fd-8bef-39ad20575d9e"}, {"label": "subtasks", "start_step": 3188, "end_step": 3201, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the green block vertically upward, separating the block completely from the black table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted green block upward and toward the top of the stacked cylinders on the wooden base."}, {"label": "subtasks", "start_step": 3240, "end_step": 3434, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the hole of the green block with the top of the target purple-topped cylinder, adjusting wrist and finger positions slightly to fit the block onto the cylinder."}, {"label": "subtasks", "start_step": 3435, "end_step": 3449, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, beginning to separate from the block now seated on the cylinder."}, {"label": "home", "start_step": 3478, "end_step": 3508, "id": "ILd7z7J5PhxowifFyMKJW"}], "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 moving throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious translational movement."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty leftward toward the green hexagonal nut adjacent to the wooden peg base on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers and makes small contact adjustments to establish grip on the green hexagonal nut adjacent to the wooden peg base."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the firmly gripped green block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the lifted green block upward toward the purple vertical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green block seated on the purple peg without any observable movement of the hand, fingers or block."}, {"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 without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block resting on the purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the front white hexagonal block on the table, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers gradually close and make small positional adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the held white hexagonal nut, keeping its position roughly unchanged above the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod and lowers it slightly to fit the rod into the hole, establishing the mating connection."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until the nut rests stably on the green base block beneath the rod, fully supported by the base."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating the hand completely from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden block assembly toward the loose white hexagonal block on the black table surface, with fingers extended during the approach."}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip, with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut backward to the position directly above a purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 765, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then slides the nut down the peg until it rests on the lower nut."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is stably supported by the purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: press: Right hand presses vertically downward on the top white hexagonal block on the leftmost purple post of the wooden stand to seat the block fully in place."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block resting on the table surface in front of the wooden stand, with fingers held in an open posture."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grip, while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table without any visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions to stabilize grasp on the white hexagonal cylinder resting on the table near the wooden rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder toward the area directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and lowers it to fit snugly onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal cylinder onto the purple post."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves away from the assembled post as an empty hand in a retreating motion."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the dark table surface, fingers held in a slightly spread posture before contacting the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and making small positional adjustments to form a grip on the block which remains resting on the table."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, and transports it upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1350, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple peg of the wooden assembly base, separating from the block."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without moving, with no visible change in hand shape or object position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal cylinder resting on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal cylinder through the air toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, moves the cylinder downward to fit onto the rod, and adjusts its position during assembly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block placed on the table near the wooden block tray, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the tray, adjusting finger contact to establish a grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, then lifts the block upward until it is completely off the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple vertical rod on the wooden base, moving the block to the position directly above the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, then lowers the block to fit it onto the rod until it rests stably on the stacked block below."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty slightly upward, retreating from the position of the assembled white block on the purple rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the green block, with fingers slightly spread, and does not touch the block yet."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closes fingers gradually and makes small adjustments to form a stable grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the black table steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block resting on the black table surface beside the green block, closing fingers to establish a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the black table surface and carries it upward toward the wooden block rack, positioning the block directly above the vertical purple rod atop the stacked blocks."}, {"label": "subtasks", "start_step": 2730, "end_step": 3007, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the vertical purple rod, making small positional and rotational adjustments to fit the block onto the rod while lowering it toward the supporting block below."}, {"label": "subtasks", "start_step": 3008, "end_step": 3021, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block to rest fully on the supporting block on the rack, opening its fingers to release grip on the now-stationary block."}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty away from the stacked blocks on the wooden rack, retracting toward the right side of the workspace."}, {"label": "subtasks", "start_step": 3060, "end_step": 3111, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green holed cubic block on the table with fingers slightly spread."}, {"label": "subtasks", "start_step": 3112, "end_step": 3187, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed cubic block on the table, adjusting finger contact positions to form a grip."}, {"label": "subtasks", "start_step": 3188, "end_step": 3201, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the green block vertically upward, separating the block completely from the black table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted green block upward and toward the top of the stacked cylinders on the wooden base."}, {"label": "subtasks", "start_step": 3240, "end_step": 3434, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the hole of the green block with the top of the target purple-topped cylinder, adjusting wrist and finger positions slightly to fit the block onto the cylinder."}, {"label": "subtasks", "start_step": 3435, "end_step": 3449, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, beginning to separate from the block now seated on the cylinder."}], "episode_index": 8}
+{"source_uid": "e97326ad7683b7e9", "num_frames": 4315, "annotation_status": "loaded", "has_annotation": true, "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 with no observable movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface in front of the wooden peg rack, with the wrist rotating about 90 degrees downward to face the fingers toward the block."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "1d959ac7-cfed-4be1-b59f-cc44c92ed0b2"}, {"label": "valid", "start_step": 1, "end_step": 4284, "id": "myUFBqkvEYm8chTlpFC_-"}, {"label": "subtasks", "start_step": 98, "end_step": 164, "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: grasp: Right hand closes its fingers around the green hexagonal block on the table and adjusts the grip to stabilize 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 table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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: 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": 181, "end_step": 345, "id": "d79f7aa1-b900-4457-85ac-95d098ba83c3"}, {"label": "subtasks", "start_step": 202, "end_step": 231, "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: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost purple peg on the wooden board."}, {"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 with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it down onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "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: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"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 with no observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 346, "end_step": 456, "id": "cb1caa45-9a03-444e-964d-52fd8a580760"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "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: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 457, "end_step": 708, "id": "184c5f21-9a0b-4e21-972b-a8638b3fea1b"}, {"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 with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "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: mate: Right hand aligns the hole of the white hexagonal block with the front-left purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 704, "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: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "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 places the white hexagonal block onto the rightmost purple peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 709, "end_step": 822, "id": "7be4ab04-a016-4281-b520-b1a247d9a9e5"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "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 downward toward the white hexagonal block on the black table surface."}, {"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 with no observable movement. | 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": 788, "end_step": 809, "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: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "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: grasp: Right hand grasps the white hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 823, "end_step": 1050, "id": "ab58f0bf-fb69-4580-b569-957a9876944b"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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: lift_transport: Right hand lifts the white hollow block off the table surface and transports it towards the left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 1034, "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: mate: Right hand aligns the white hollow block with the left purple peg on the wooden rack, fits it onto the peg, and makes small adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "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: release: Right hand releases the white hollow block on the purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1051, "end_step": 1152, "id": "63ca0efd-8a92-4cb6-ba75-9424262f3689"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "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: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking tower."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1153, "end_step": 1344, "id": "95841f26-26f2-4048-98fc-f3570b873553"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "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: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1371, "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: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases the object."}, {"label": "goal", "start_step": 1345, "end_step": 1443, "id": "2e0ac1cc-2cfa-4c8d-923a-8b4e5ee89236"}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "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: reach: Right hand reaches downward toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "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: 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": 1410, "end_step": 1439, "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: hold: Right hand holds the green hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "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 grasps the green cubic block on the dark table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1444, "end_step": 1635, "id": "67af6f19-8c8f-40c4-a5d3-3fce59791dd4"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "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 lifts the green cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "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: Right hand transports the green cubic block upward and toward the wooden peg board on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1634, "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: mate: Right hand aligns the green cubic block with the vertical peg on the board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "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 upper block set toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1636, "end_step": 1743, "id": "f2cfb294-bac4-43bf-956f-4bdbcadab101"}, {"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 table with no observable movement. | 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": 1740, "end_step": 1754, "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 cylindrical object on the table next to the green cubic block without moving."}, {"label": "goal", "start_step": 1744, "end_step": 1950, "id": "b2a72b14-da15-4028-94c3-00685404fd1a"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the back-right peg board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1934, "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 mates the white cylindrical object onto a vertical peg on the peg board via aligning and downward movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "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: hold: Right hand holds the white cylindrical object fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "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: reach: Right hand moves down and right from the top of the block stack toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1951, "end_step": 2070, "id": "9fc953dd-dbd8-4591-a32c-694108e4f67b"}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "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: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "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: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "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: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 2071, "end_step": 2223, "id": "9a40b1bd-1532-4c62-97da-d212f9b88847"}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "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: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 2108, "end_step": 2219, "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: mate_release: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole, and releases the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "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: lift_release: Right hand lifts the purple rod upward from the white cylinder on the right side of the pegboard and releases the rod."}, {"label": "goal", "start_step": 2224, "end_step": 2304, "id": "6c3f6bd2-2ca1-4a1b-a267-a423045e2799"}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "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 downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "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 grasps the white hexagonal block on the black table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "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 block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "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: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2305, "end_step": 2853, "id": "26a0b78b-4a29-4615-a7dd-95139c45fdf8"}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "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: lift: Right hand lifts the white cylindrical block up from the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "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: transport: Right hand transports the white cylindrical block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2378, "end_step": 2849, "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: mate: Right hand aligns the white cylindrical block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "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: release: Right hand releases the top part of the rightmost white cylinder on the wooden rack."}, {"label": "goal", "start_step": 2854, "end_step": 3629, "id": "d2cc20c5-c042-4ac5-ae4d-8905d9855b34"}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "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: reach: Right hand moves downward toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "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: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00058", "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 green cubic block off the table and moves it upward to the area above the wooden rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3434, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand aligns and adjusts the green cubic block to fit onto the white cylinder of the wooden rack before releasing it, causing the block to fall onto the table."}, {"label": "subtasks", "start_step": 3435, "end_step": 3494, "id": "reasoning-language-00060", "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 green cubic block that has fallen on the table."}, {"label": "subtasks", "start_step": 3495, "end_step": 3629, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers continuously adjusting the contact position and grip."}, {"label": "subtasks", "start_step": 3630, "end_step": 3644, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cube on the right table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 3630, "end_step": 4271, "id": "88fb8c86-c6b3-42fc-a15e-c4196f9908f0"}, {"label": "subtasks", "start_step": 3645, "end_step": 3681, "id": "reasoning-language-00063", "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 green cube off the table and transports it leftward to the top of the purple-tipped bottle at the front right of the bottle rack."}, {"label": "subtasks", "start_step": 3682, "end_step": 4259, "id": "reasoning-language-00064", "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 green cube with the purple-tipped bottle and fits it onto the bottle, making continuous fine adjustments to the position and orientation of the green cube during the assembly process."}, {"label": "subtasks", "start_step": 4260, "end_step": 4274, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 4285, "end_step": 4314, "id": "Xo8V0H6zNZqCmqEyF4P9D"}], "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 with no observable movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface in front of the wooden peg rack, with the wrist rotating about 90 degrees downward to face the fingers toward the block."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "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: grasp: Right hand closes its fingers around the green hexagonal block on the table and adjusts the grip to stabilize 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 table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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: 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": 202, "end_step": 231, "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: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost purple peg on the wooden board."}, {"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 with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it down onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "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: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"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 with no observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "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: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip."}, {"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 with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "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: mate: Right hand aligns the hole of the white hexagonal block with the front-left purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 704, "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: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "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 places the white hexagonal block onto the rightmost purple peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "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 downward toward the white hexagonal block on the black table surface."}, {"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 with no observable movement. | 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": 788, "end_step": 809, "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: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "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: grasp: Right hand grasps the white hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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: lift_transport: Right hand lifts the white hollow block off the table surface and transports it towards the left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 1034, "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: mate: Right hand aligns the white hollow block with the left purple peg on the wooden rack, fits it onto the peg, and makes small adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "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: release: Right hand releases the white hollow block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "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: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking tower."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "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: 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": 1170, "end_step": 1191, "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: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1371, "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: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases the object."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "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: reach: Right hand reaches downward toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "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: 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": 1410, "end_step": 1439, "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: hold: Right hand holds the green hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "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 grasps the green cubic block on the dark table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "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 lifts the green cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "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: Right hand transports the green cubic block upward and toward the wooden peg board on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1634, "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: mate: Right hand aligns the green cubic block with the vertical peg on the board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "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 upper block set toward the white hexagonal block on the table."}, {"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 table with no observable movement. | 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": 1740, "end_step": 1754, "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 cylindrical object on the table next to the green cubic block without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the back-right peg board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1934, "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 mates the white cylindrical object onto a vertical peg on the peg board via aligning and downward movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "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: hold: Right hand holds the white cylindrical object fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "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: reach: Right hand moves down and right from the top of the block stack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "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: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "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: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "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: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "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: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 2108, "end_step": 2219, "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: mate_release: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole, and releases the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "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: lift_release: Right hand lifts the purple rod upward from the white cylinder on the right side of the pegboard and releases the rod."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "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 downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "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 grasps the white hexagonal block on the black table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "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 block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "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: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "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: lift: Right hand lifts the white cylindrical block up from the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "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: transport: Right hand transports the white cylindrical block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2378, "end_step": 2849, "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: mate: Right hand aligns the white cylindrical block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "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: release: Right hand releases the top part of the rightmost white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "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: reach: Right hand moves downward toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "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: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00058", "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 green cubic block off the table and moves it upward to the area above the wooden rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3434, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand aligns and adjusts the green cubic block to fit onto the white cylinder of the wooden rack before releasing it, causing the block to fall onto the table."}, {"label": "subtasks", "start_step": 3435, "end_step": 3494, "id": "reasoning-language-00060", "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 green cubic block that has fallen on the table."}, {"label": "subtasks", "start_step": 3495, "end_step": 3629, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers continuously adjusting the contact position and grip."}, {"label": "subtasks", "start_step": 3630, "end_step": 3644, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cube on the right table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 3645, "end_step": 3681, "id": "reasoning-language-00063", "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 green cube off the table and transports it leftward to the top of the purple-tipped bottle at the front right of the bottle rack."}, {"label": "subtasks", "start_step": 3682, "end_step": 4259, "id": "reasoning-language-00064", "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 green cube with the purple-tipped bottle and fits it onto the bottle, making continuous fine adjustments to the position and orientation of the green cube during the assembly process."}, {"label": "subtasks", "start_step": 4260, "end_step": 4274, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}], "episode_index": 9}
+{"source_uid": "2a5e4b47cef87b66", "num_frames": 5098, "annotation_status": "loaded", "has_annotation": true, "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 table without any movement. | Right hand: reach: Right hand moves from the right side of the table towards the green block located in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 192, "id": "b8a80ad8-fcd4-432a-ba63-c5e25eafff9f"}, {"label": "valid", "start_step": 0, "end_step": 5064, "id": "y0w7KSAqe_v6wDVEEzaU-"}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green block on the table."}, {"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 any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until it is completely off the support."}, {"label": "goal", "start_step": 193, "end_step": 990, "id": "991b4e77-df5b-4bec-b602-d77eb556086f"}, {"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 any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the vertical purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the target purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 967, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg repeatedly to push it tightly onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green hexagonal block and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 991, "end_step": 1158, "id": "4bf19dd0-1fe7-4185-b49a-6fcfb4ca9ee5"}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1159, "end_step": 1425, "id": "7fc6a26c-6ea6-453e-91d4-b92793d6ee7c"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the green rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1334, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to fix it, then releases the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats upwards away from the assembled block and rod."}, {"label": "goal", "start_step": 1426, "end_step": 1572, "id": "cddaef86-f6b6-4e5e-8821-df79538e3136"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the black table surface."}, {"label": "goal", "start_step": 1573, "end_step": 1947, "id": "5204a600-1258-4e0f-99c0-d29be87c0b40"}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal sleeve with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1934, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the white hexagonal sleeve down along the purple rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 1935, "end_step": 2047, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden rack area to the white hexagonal block on the table."}, {"label": "goal", "start_step": 1948, "end_step": 2382, "id": "e800ac2f-95a9-44cc-ab23-3aac232dcc76"}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2271, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to another white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2399, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2383, "end_step": 2598, "id": "9a4e7381-3328-4f08-bcbe-e5a71c7978d3"}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2587, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it downwards."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 2595, "end_step": 2661, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "goal", "start_step": 2599, "end_step": 2721, "id": "2894f746-2907-4f9b-9b10-2397b900e964"}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the green hexagonal block on the table."}, {"label": "goal", "start_step": 2722, "end_step": 2922, "id": "b6162a25-5e85-449f-bf8c-30805e8154b9"}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2775, "end_step": 2827, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the top of the rightmost purple rod."}, {"label": "subtasks", "start_step": 2828, "end_step": 2909, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the green hexagonal block onto the purple rod and presses it down to fit securely."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2923, "end_step": 3054, "id": "7338958b-ff29-45ae-bb43-38977d682456"}, {"label": "subtasks", "start_step": 2940, "end_step": 2969, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2970, "end_step": 3074, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 3055, "end_step": 3684, "id": "1a0dc148-c366-4b9b-b8ac-b078134093aa"}, {"label": "subtasks", "start_step": 3075, "end_step": 3127, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3128, "end_step": 3149, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 3150, "end_step": 3247, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 3248, "end_step": 3434, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the purple rod and transports it toward the right area of the black tabletop."}, {"label": "subtasks", "start_step": 3435, "end_step": 3487, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white cylindrical block back toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3488, "end_step": 3674, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the white cylindrical block onto the purple rod and presses it down to fully seat it in position."}, {"label": "subtasks", "start_step": 3675, "end_step": 3704, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 3685, "end_step": 3831, "id": "1cfa1c0b-f2c7-4627-812c-e68fd573ae9d"}, {"label": "subtasks", "start_step": 3705, "end_step": 3771, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats from the wooden base area to the right side."}, {"label": "subtasks", "start_step": 3772, "end_step": 3801, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3802, "end_step": 3861, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 3832, "end_step": 4020, "id": "20474500-091b-4d32-ad97-92fee4759c09"}, {"label": "subtasks", "start_step": 3862, "end_step": 3914, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3915, "end_step": 4019, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand inserts the white hollow cylinder onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 4021, "end_step": 4293, "id": "b8b2c255-3a0f-4039-a31c-152de39aff76"}, {"label": "subtasks", "start_step": 4072, "end_step": 4311, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 4294, "end_step": 4662, "id": "3f1b62ee-69d0-4861-83d1-3e514510feb0"}, {"label": "subtasks", "start_step": 4312, "end_step": 4371, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 4372, "end_step": 4641, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete mating."}, {"label": "subtasks", "start_step": 4642, "end_step": 4649, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 4650, "end_step": 4671, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the top of the white bottle with purple tip on the right side of the wooden tray."}, {"label": "goal", "start_step": 4663, "end_step": 4779, "id": "e10cf936-7753-4c28-b418-6cb49fd3f4ba"}, {"label": "subtasks", "start_step": 4672, "end_step": 4731, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the area near the white bottle towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 4732, "end_step": 4799, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 4780, "end_step": 5022, "id": "3b1394df-d060-497e-b329-0f236cab65db"}, {"label": "subtasks", "start_step": 4800, "end_step": 4859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic object from the table and transports it towards the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 4860, "end_step": 4934, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the green cubic object with the top of the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4935, "end_step": 5024, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_release: Right hand places the green cubic object onto the top of the white bottle and releases the grip."}, {"label": "home", "start_step": 5065, "end_step": 5097, "id": "rNttswlO2gUEZ0AlIZa5N"}], "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 table without any movement. | Right hand: reach: Right hand moves from the right side of the table towards the green block located in front of the wooden peg base."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green block on the table."}, {"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 any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until it is completely off the support."}, {"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 any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the vertical purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the target purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 967, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg repeatedly to push it tightly onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green hexagonal block and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the green rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1334, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to fix it, then releases the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats upwards away from the assembled block and rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal sleeve with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1934, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the white hexagonal sleeve down along the purple rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 1935, "end_step": 2047, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden rack area to the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2271, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to another white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2399, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2587, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it downwards."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 2595, "end_step": 2661, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2775, "end_step": 2827, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the top of the rightmost purple rod."}, {"label": "subtasks", "start_step": 2828, "end_step": 2909, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the green hexagonal block onto the purple rod and presses it down to fit securely."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2940, "end_step": 2969, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2970, "end_step": 3074, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3075, "end_step": 3127, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3128, "end_step": 3149, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 3150, "end_step": 3247, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 3248, "end_step": 3434, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the purple rod and transports it toward the right area of the black tabletop."}, {"label": "subtasks", "start_step": 3435, "end_step": 3487, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white cylindrical block back toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3488, "end_step": 3674, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the white cylindrical block onto the purple rod and presses it down to fully seat it in position."}, {"label": "subtasks", "start_step": 3675, "end_step": 3704, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 3705, "end_step": 3771, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats from the wooden base area to the right side."}, {"label": "subtasks", "start_step": 3772, "end_step": 3801, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3802, "end_step": 3861, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3862, "end_step": 3914, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3915, "end_step": 4019, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand inserts the white hollow cylinder onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 4072, "end_step": 4311, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 4312, "end_step": 4371, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 4372, "end_step": 4641, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete mating."}, {"label": "subtasks", "start_step": 4642, "end_step": 4649, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 4650, "end_step": 4671, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the top of the white bottle with purple tip on the right side of the wooden tray."}, {"label": "subtasks", "start_step": 4672, "end_step": 4731, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the area near the white bottle towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 4732, "end_step": 4799, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 4800, "end_step": 4859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic object from the table and transports it towards the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 4860, "end_step": 4934, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the green cubic object with the top of the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4935, "end_step": 5024, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_release: Right hand places the green cubic object onto the top of the white bottle and releases the grip."}], "episode_index": 10}
+{"source_uid": "c93f3e03d269d7d6", "num_frames": 3163, "annotation_status": "loaded", "has_annotation": true, "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 and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed to the left of the wooden assembly base, with fingers open and extended during the movement."}, {"label": "goal", "start_step": 0, "end_step": 183, "id": "e5997057-40ed-408f-bea1-f10b0a800d06"}, {"label": "valid", "start_step": 0, "end_step": 3132, "id": "ZYQGOpvBeBye5koIobStc"}, {"label": "subtasks", "start_step": 90, "end_step": 217, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block left of the wooden assembly base to establish a stable grip."}, {"label": "goal", "start_step": 184, "end_step": 378, "id": "110cc4b8-64c4-48e3-93c8-00106787bcdb"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark work surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block to align with the left purple peg on the wooden board, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary 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 peg on the wooden pegboard, releasing the block once the block is supported by the peg."}, {"label": "goal", "start_step": 379, "end_step": 567, "id": "f1c6b4a1-2f08-4d2f-bf95-76ccc40f1683"}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the pegboard area toward the white hexagonal nut resting on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, making slight adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "goal", "start_step": 568, "end_step": 717, "id": "69ab4f61-ad5d-4519-9d3b-b69258f553c4"}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward to position it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any 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": "goal", "start_step": 718, "end_step": 828, "id": "7de9006c-e430-43d0-8489-a601d3a6b76f"}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger and wrist positions while closing fingers around the block to establish a stable grip."}, {"label": "goal", "start_step": 829, "end_step": 1011, "id": "fd8f5a01-9aa4-45e4-b29a-9ce9cc32bbc1"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary 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 leftmost purple rod and lowers the block to fit onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden stand without any observable movement."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves downward to place white capped cylindrical blocks onto the vertical pegs of the wooden base, until each block is stably supported by the pegs."}, {"label": "goal", "start_step": 1012, "end_step": 1158, "id": "a794c51a-ed7b-4898-b7e0-38b494aa4e1b"}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block located on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block without any observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible 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": 1159, "end_step": 1326, "id": "38d3c48e-10f1-4fb2-8819-76fadc9d13e6"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and lowers the block to fit onto the rod, making small wrist adjustments to align the parts correctly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to set it onto the purple post on the wooden peg base, until the block rests stably on the base."}, {"label": "goal", "start_step": 1327, "end_step": 1419, "id": "8b777584-1214-43e6-880c-d47264b0d76f"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post, separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark work surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 1372, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusting finger positions to close around the block to form a stable grip."}, {"label": "goal", "start_step": 1420, "end_step": 1605, "id": "d8a1942a-5450-4cb6-a043-4b784208a043"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the work surface and transports it upward to the area above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the white hexagonal block beneath it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the green block, moves it downward to seat it on the matching green peg of the wooden block base, and releases the block with open fingers as the block becomes supported by the base."}, {"label": "goal", "start_step": 1606, "end_step": 1686, "id": "948e4f64-64a7-4527-9cc1-112fae11e5a5"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface in front of the block base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary 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 surface, making small adjustments to finger position to establish a grip on the block."}, {"label": "goal", "start_step": 1687, "end_step": 1842, "id": "6cf7d27e-da52-4a0d-91ce-51afcca4bdb5"}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to raise it completely off the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted white cylindrical block upward and toward the wooden assembly base, positioning it directly above the target vertical mounting rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target vertical rod on the assembly stand, then lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white-and-green block, aligns it with the peg on the wooden base, lowers it until the block is supported by the base, and opens fingers to release contact with the block."}, {"label": "goal", "start_step": 1843, "end_step": 1932, "id": "694add48-fb2e-4cba-a3fd-467f256d29dc"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward and to the right from the wooden base area toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand positions fingers around the loose white hexagonal block on the table and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the wooden block stand without moving."}, {"label": "goal", "start_step": 1933, "end_step": 2316, "id": "4b0d31d4-b556-41b4-8497-5da66b48ad67"}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block straight upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward to position it directly above the purple vertical rod on the wooden stand."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary 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, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block partially fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, sliding it further down the purple rod to continue the fitting process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2377, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the area adjacent to the purple rod on the wooden block rack toward the white hexagonal block placed on the black table, fingers held slightly open during the movement."}, {"label": "goal", "start_step": 2317, "end_step": 2436, "id": "732e6dde-6882-4dab-b9d1-c4072a8fb54b"}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and making small adjustments to form a grip on the block."}, {"label": "goal", "start_step": 2437, "end_step": 2619, "id": "1241d578-a0c5-4d09-8ebc-0a7a8a8dd600"}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary 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, moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 2528, "end_step": 2609, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the position near the purple-topped cylinder on the wooden holder downward and to the right, approaching the green cubic block placed on the dark table surface."}, {"label": "goal", "start_step": 2620, "end_step": 2730, "id": "7a2e7128-331e-4ad3-bc6e-9ff44de2d2b7"}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its thumb and index finger positions around the green cubic block, with fingers slightly closing to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward off the black table surface."}, {"label": "goal", "start_step": 2731, "end_step": 3111, "id": "14a691b8-4fda-4785-a181-2efb7a61d20d"}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position directly above the purple-capped bottle on the wooden bottle rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2811, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple cap of the target bottle, adjusting the block's orientation slightly to match the cap."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the aligned green block downward until it fits onto the bottle cap and is stably supported by the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 3097, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block steadily on top of the purple-capped bottle without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 3098, "end_step": 3119, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains stable on the bottle."}, {"label": "home", "start_step": 3133, "end_step": 3162, "id": "IynwHcHtx4TUbRvPQ7ups"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed to the left of the wooden assembly base, with fingers open and extended during the movement."}, {"label": "subtasks", "start_step": 90, "end_step": 217, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block left of the wooden assembly base to establish a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark work surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block to align with the left purple peg on the wooden board, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary 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 peg on the wooden pegboard, releasing the block once the block is supported by the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the pegboard area toward the white hexagonal nut resting on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, making slight adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward to position it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any 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": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger and wrist positions while closing fingers around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary 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 leftmost purple rod and lowers the block to fit onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden stand without any observable movement."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves downward to place white capped cylindrical blocks onto the vertical pegs of the wooden base, until each block is stably supported by the pegs."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block located on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block without any observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible 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": 1185, "end_step": 1207, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and lowers the block to fit onto the rod, making small wrist adjustments to align the parts correctly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to set it onto the purple post on the wooden peg base, until the block rests stably on the base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post, separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark work surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 1372, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusting finger positions to close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the work surface and transports it upward to the area above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the white hexagonal block beneath it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the green block, moves it downward to seat it on the matching green peg of the wooden block base, and releases the block with open fingers as the block becomes supported by the base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface in front of the block base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary 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 surface, making small adjustments to finger position to establish a grip on the block."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to raise it completely off the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted white cylindrical block upward and toward the wooden assembly base, positioning it directly above the target vertical mounting rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target vertical rod on the assembly stand, then lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white-and-green block, aligns it with the peg on the wooden base, lowers it until the block is supported by the base, and opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward and to the right from the wooden base area toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand positions fingers around the loose white hexagonal block on the table and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the wooden block stand without moving."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block straight upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward to position it directly above the purple vertical rod on the wooden stand."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary 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, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block partially fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, sliding it further down the purple rod to continue the fitting process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2377, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the area adjacent to the purple rod on the wooden block rack toward the white hexagonal block placed on the black table, fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and making small adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary 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, moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 2528, "end_step": 2609, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the position near the purple-topped cylinder on the wooden holder downward and to the right, approaching the green cubic block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its thumb and index finger positions around the green cubic block, with fingers slightly closing to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward off the black table surface."}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position directly above the purple-capped bottle on the wooden bottle rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2811, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple cap of the target bottle, adjusting the block's orientation slightly to match the cap."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the aligned green block downward until it fits onto the bottle cap and is stably supported by the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 3097, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block steadily on top of the purple-capped bottle without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 3098, "end_step": 3119, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains stable on the bottle."}], "episode_index": 11}
+{"source_uid": "1432a5740616bc68", "num_frames": 2862, "annotation_status": "loaded", "has_annotation": true, "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 and stops. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "goal", "start_step": 0, "end_step": 276, "id": "74a1430e-f922-42e9-b38c-6c000b31ca6e"}, {"label": "valid", "start_step": 0, "end_step": 2831, "id": "jprnwOFGYJef4YCK1IKZa"}, {"label": "subtasks", "start_step": 38, "end_step": 111, "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 and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "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 around the green hexagonal block on the left table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "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 hexagonal block on the left table without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "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 hexagonal block on the dark table, with fingers closing and adjusting to secure the block."}, {"label": "goal", "start_step": 277, "end_step": 444, "id": "80885dd2-5159-43ba-8a94-42b6fd09fbe7"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "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 and transports the green hexagonal block from the dark table to the area above the leftmost peg on the wooden board."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "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 hexagonal block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 445, "end_step": 582, "id": "94dc608b-2989-473f-8a2a-e8574712e83d"}, {"label": "subtasks", "start_step": 450, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00012", "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 black table surface with closing and adjusting fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "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 black table surface without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 583, "end_step": 795, "id": "89c7fea9-8f3c-42f1-89be-97ae6f22243d"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "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 from the table while moving it to the position above the leftmost purple peg on the base."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and moves it down to fit the block onto the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the leftmost purple peg to push it to the bottom of the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 796, "end_step": 906, "id": "704e8f8e-7fd3-40c6-a269-13c036427352"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty 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 contact position."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00022", "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 black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 907, "end_step": 1068, "id": "6bb0e382-d15d-475a-b866-4c3575b0bd43"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00025", "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 fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white block on top of the leftmost vertical peg, with fingers opening."}, {"label": "goal", "start_step": 1069, "end_step": 1194, "id": "2331b6d1-f722-4800-841d-a93101866e07"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00027", "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 leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00028", "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 surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00030", "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 dark table, with fingers adjusting to form a stable grip while the block remains on the table surface."}, {"label": "goal", "start_step": 1195, "end_step": 1494, "id": "53556bf2-43a0-4c1e-9675-f60894a11a27"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00031", "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 position above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported by the block structure below."}, {"label": "subtasks", "start_step": 1358, "end_step": 1484, "id": "reasoning-language-00034", "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 purple peg without any movement."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1495, "end_step": 1635, "id": "a497d1af-e423-43c5-bb27-61aec1331191"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the 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": 1582, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "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 green cubic block from the black table surface."}, {"label": "goal", "start_step": 1636, "end_step": 1791, "id": "837adb18-8014-4d04-b639-645292b3040a"}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle vertical peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "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 green cubic block on the middle vertical peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00043", "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 a vertical peg on the wooden base."}, {"label": "goal", "start_step": 1792, "end_step": 1899, "id": "82934e11-e5fa-4c66-a632-99df225972ee"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the 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": 1860, "end_step": 1919, "id": "reasoning-language-00045", "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 surface with fingers closing around it."}, {"label": "goal", "start_step": 1900, "end_step": 2049, "id": "be1c73c3-49d1-4537-a69f-59b73ba5aece"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "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 table and transports it upward and rightward toward the peg rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the rack and moves it downward to fit the object onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00048", "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 fitted on the rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the building block set's peg and releases it."}, {"label": "goal", "start_step": 2050, "end_step": 2160, "id": "6dfdec93-3b6a-4092-a4e8-683c4e37f29e"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves empty toward the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 2161, "end_step": 2319, "id": "b6864257-266b-43aa-bb96-acdbc9618a61"}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00052", "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 off the table and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_place: Right hand aligns the white cylindrical block with the purple rod, fits it onto the rod, and lowers it to rest on the wooden board."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty 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": 2295, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical block and moves away from the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white cubic block on the black table surface."}, {"label": "goal", "start_step": 2320, "end_step": 2379, "id": "b30362fe-3ba5-4a20-bece-91c3edddf67e"}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the white cubic block on the table to form a stable grasp, with slight finger position adjustment."}, {"label": "goal", "start_step": 2380, "end_step": 2532, "id": "32becbb3-08e7-404d-92a2-e688cee63f2c"}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table surface and transports it upward and leftward toward the wooden pegboard with the purple peg."}, {"label": "subtasks", "start_step": 2430, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg on the wooden pegboard and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top part of the front-right white cylinder on the wooden rack downward."}, {"label": "goal", "start_step": 2533, "end_step": 2625, "id": "b4304bef-b40f-41f2-87b6-cd1e1d05c640"}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "id": "reasoning-language-00061", "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 table with empty hand."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp_lift: Right hand contacts the green cubic block on the table, closes fingers to grasp it, then lifts it upward off the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00063", "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2626, "end_step": 2802, "id": "85dc94ea-8701-431b-a347-48d5cdb9f7ac"}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it toward the white peg with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2678, "end_step": 2804, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped white peg on the wooden base by aligning the block's hole and inserting downward."}, {"label": "home", "start_step": 2832, "end_step": 2861, "id": "hinzyb1tZABbEEJrJN752"}], "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 and stops. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 38, "end_step": 111, "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 and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "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 around the green hexagonal block on the left table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "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 hexagonal block on the left table without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "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 hexagonal block on the dark table, with fingers closing and adjusting to secure the block."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "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 and transports the green hexagonal block from the dark table to the area above the leftmost peg on the wooden board."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "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 hexagonal block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 450, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00012", "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 black table surface with closing and adjusting fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "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 black table surface without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "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 from the table while moving it to the position above the leftmost purple peg on the base."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and moves it down to fit the block onto the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the leftmost purple peg to push it to the bottom of the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty 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 contact position."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00022", "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 black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00025", "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 fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white block on top of the leftmost vertical peg, with fingers opening."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00027", "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 leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00028", "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 surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00030", "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 dark table, with fingers adjusting to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00031", "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 position above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported by the block structure below."}, {"label": "subtasks", "start_step": 1358, "end_step": 1484, "id": "reasoning-language-00034", "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 purple peg without any movement."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the 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": 1582, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "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 green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle vertical peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "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 green cubic block on the middle vertical peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00043", "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 a vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the 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": 1860, "end_step": 1919, "id": "reasoning-language-00045", "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 surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "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 table and transports it upward and rightward toward the peg rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the rack and moves it downward to fit the object onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00048", "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 fitted on the rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the building block set's peg and releases it."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves empty toward the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00052", "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 off the table and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_place: Right hand aligns the white cylindrical block with the purple rod, fits it onto the rod, and lowers it to rest on the wooden board."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty 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": 2295, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical block and moves away from the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the white cubic block on the table to form a stable grasp, with slight finger position adjustment."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table surface and transports it upward and leftward toward the wooden pegboard with the purple peg."}, {"label": "subtasks", "start_step": 2430, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg on the wooden pegboard and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top part of the front-right white cylinder on the wooden rack downward."}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "id": "reasoning-language-00061", "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 table with empty hand."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp_lift: Right hand contacts the green cubic block on the table, closes fingers to grasp it, then lifts it upward off the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00063", "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it toward the white peg with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2678, "end_step": 2804, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped white peg on the wooden base by aligning the block's hole and inserting downward."}], "episode_index": 12}
+{"source_uid": "1df51f71365be95f", "num_frames": 2956, "annotation_status": "loaded", "has_annotation": true, "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 operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 309, "id": "c3fd716d-c49e-478d-be4f-f56d22c2faf2"}, {"label": "valid", "start_step": 0, "end_step": 2925, "id": "uaJ1KaV6Cx84DSh7LA6Rk"}, {"label": "subtasks", "start_step": 112, "end_step": 187, "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 leftmost purple rod, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 299, "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 holds the white cylinder and lifts it upward along the purple rod."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 310, "end_step": 465, "id": "86272b9d-ed7d-4717-a78c-0615b43a83d1"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "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 post of the wooden base."}, {"label": "goal", "start_step": 466, "end_step": 594, "id": "399223e8-55dc-43c7-a105-4a5d31d85d1f"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "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 towards the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "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 cylindrical block on the black tabletop with fingers closing around it to adjust grip."}, {"label": "goal", "start_step": 595, "end_step": 768, "id": "f4233962-5725-4fc3-809c-bb410f8eb9db"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "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: Right hand lifts the white hexagonal block until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "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_release: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 769, "end_step": 873, "id": "aef3a89e-4cb4-4cba-b742-a4c95e19b44d"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "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 grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 874, "end_step": 1017, "id": "4173bb37-0bda-4855-ab1d-532e0f60239a"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "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 cylindrical block on the wooden base peg, fingers open to separate from the block."}, {"label": "goal", "start_step": 1018, "end_step": 1161, "id": "be0c8dd2-e13f-4ee8-bd8a-6e892deaeca3"}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "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 small white cylindrical block near the bottom edge of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "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 contacts the small white cylindrical block on the table, fingers adjust to form a stable grasp on the block."}, {"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 operating area 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 tray."}, {"label": "goal", "start_step": 1162, "end_step": 1317, "id": "cb31b1d0-f83e-4ee9-a374-322422baa022"}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "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 block with the purple rod by lowering it onto the rod."}, {"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 operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1318, "end_step": 1419, "id": "0ddca351-5616-4dea-bf0a-49d712f453f9"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats downward away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "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 reaches toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "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 grasps the green cubic block, with fingers closing and adjusting to form stable grip."}, {"label": "goal", "start_step": 1420, "end_step": 1572, "id": "ac9d744c-918a-438e-9e90-c08176074daf"}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "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 and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "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 mates the green block with the purple rod on the wooden tray by lowering it onto the rod."}, {"label": "goal", "start_step": 1573, "end_step": 1671, "id": "202ea7f0-b545-4492-b032-964970462d8e"}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1672, "end_step": 1869, "id": "fcfbae7b-f0ae-4591-9730-9c65166eaaaa"}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the target peg on the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1927, "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 towards the white cylindrical block on the right black tabletop."}, {"label": "goal", "start_step": 1870, "end_step": 2007, "id": "39740d5a-dfbf-4a18-add3-eba3e41b15c3"}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "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 contacts the white cylindrical block and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 2008, "end_step": 2157, "id": "b2bca7d5-5a4e-4ebd-9275-b7dd83a2b63d"}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00036", "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 with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00037", "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 fitted on the purple rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "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 purple rod after releasing the cylinder."}, {"label": "goal", "start_step": 2158, "end_step": 2277, "id": "39468b1a-e4be-43c9-82c1-3fd152dd15fa"}, {"label": "subtasks", "start_step": 2160, "end_step": 2167, "id": "reasoning-language-00039", "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 on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the black table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2301, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2278, "end_step": 2433, "id": "a5b27473-9041-4a70-82ca-6e476700ef4a"}, {"label": "subtasks", "start_step": 2302, "end_step": 2347, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the tabletop and moves it towards the wooden tray with stacked blocks."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "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 white cylinder which is placed on the purple rod of the wooden tray."}, {"label": "goal", "start_step": 2434, "end_step": 2589, "id": "428fbdbc-bda7-4c7c-9c8a-cb81637ab040"}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2601, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2590, "end_step": 2889, "id": "dedcc4dd-da01-4681-8eb8-0ebc026784a6"}, {"label": "subtasks", "start_step": 2602, "end_step": 2661, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the white bottle with purple cap on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2714, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2715, "end_step": 2871, "id": "reasoning-language-00049", "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 bottle to the target position."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the green block from grasp."}, {"label": "home", "start_step": 2926, "end_step": 2955, "id": "J9yOi3vSKUYbJFZGuJI3W"}], "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 operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 187, "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 leftmost purple rod, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 299, "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 holds the white cylinder and lifts it upward along the purple rod."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "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 post of the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "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 towards the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "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 cylindrical block on the black tabletop with fingers closing around it to adjust grip."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "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: Right hand lifts the white hexagonal block until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "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_release: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "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 grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "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 cylindrical block on the wooden base peg, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "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 small white cylindrical block near the bottom edge of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "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 contacts the small white cylindrical block on the table, fingers adjust to form a stable grasp on the block."}, {"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 operating area 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 tray."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "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 block with the purple rod by lowering it onto the rod."}, {"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 operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats downward away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "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 reaches toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "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 grasps the green cubic block, with fingers closing and adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "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 and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "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 mates the green block with the purple rod on the wooden tray by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the target peg on the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1927, "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 towards the white cylindrical block on the right black tabletop."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "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 contacts the white cylindrical block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00036", "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 with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00037", "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 fitted on the purple rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "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 purple rod after releasing the cylinder."}, {"label": "subtasks", "start_step": 2160, "end_step": 2167, "id": "reasoning-language-00039", "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 on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the black table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2301, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2302, "end_step": 2347, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the tabletop and moves it towards the wooden tray with stacked blocks."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "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 white cylinder which is placed on the purple rod of the wooden tray."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2601, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2602, "end_step": 2661, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the white bottle with purple cap on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2714, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2715, "end_step": 2871, "id": "reasoning-language-00049", "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 bottle to the target position."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the green block from grasp."}], "episode_index": 13}
+{"source_uid": "328f0af5c965acdc", "num_frames": 2927, "annotation_status": "loaded", "has_annotation": true, "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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal block in front of the wooden peg base, with fingers extended, not yet contacting the target block."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "e044a777-e756-4254-ac22-97b607ac7d4b"}, {"label": "valid", "start_step": 0, "end_step": 2895, "id": "wgMExWALjhnK_YbvKkyUG"}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green hexagonal block resting on the dark table near the wooden pegboard."}, {"label": "goal", "start_step": 187, "end_step": 339, "id": "ae2ac625-c25e-4977-9072-e5f8d77649fe"}, {"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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden board and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block onto a purple peg of the wooden pegboard until the block rests on underlying blocks, opens fingers to release grip on the green block."}, {"label": "goal", "start_step": 340, "end_step": 477, "id": "dc2bf782-5010-4ed9-b89f-823b8b914c26"}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal block placed on the table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, makes small finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface in a stable grip, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 478, "end_step": 639, "id": "35fb929a-fcb4-4824-ade9-fb01617f96e8"}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to the position above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, slides the block down the rod and adjusts its position to complete the nesting assembly on top of the green block below."}, {"label": "goal", "start_step": 640, "end_step": 762, "id": "41af9317-5bbe-4e2a-8ab7-9ac0318b8d6e"}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downwards towards the front-left white hexagonal block on the dark work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block, making slight adjustments to finger contact points to establish a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 763, "end_step": 969, "id": "694a8231-6ad8-460f-a8a7-4be2d6948b95"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the unoccupied purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 810, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and slides the nut down the rod to fit into the assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns and fits the white block onto the purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 970, "end_step": 1083, "id": "4e50e1a5-7366-43a0-94b4-6a5bffeec8a6"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_reach: Right hand releases the fitted white block on the purple rod and moves downward empty toward the adjacent white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, adjusting finger contact positions to establish a stable grasp."}, {"label": "goal", "start_step": 1084, "end_step": 1230, "id": "957ccf95-eaa3-447f-b741-4d99cbdd136e"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | 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 vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg, lowering the block to fit it onto the peg during assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple vertical peg without observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the front green hexagonal block on the dark table surface, keeping fingers open while approaching the target."}, {"label": "goal", "start_step": 1231, "end_step": 1311, "id": "ee3af3eb-abe0-4b36-9f5c-c1440233ce0a"}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the front green hexagonal block on the table, closing fingers to make contact and form a stable grasp on the block."}, {"label": "goal", "start_step": 1312, "end_step": 1464, "id": "6745f0de-e5b6-4412-9b63-253a50044d76"}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the purple rod on the wooden block base, positioning it directly above the rod."}, {"label": "subtasks", "start_step": 1358, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block to slide it onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "goal", "start_step": 1465, "end_step": 1548, "id": "0e659b75-f56d-48b6-8d72-b4c9c76cb887"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed near the green block on the table, approaching the target nut."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, fingers close and adjust contact points to establish a stable grip on the nut."}, {"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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "goal", "start_step": 1549, "end_step": 1692, "id": "94e04913-5934-4072-ad1d-195a9988a880"}, {"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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the wooden block rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the top white cylinder on the wooden assembly base, breaking contact with the object."}, {"label": "goal", "start_step": 1693, "end_step": 1779, "id": "43d981c9-01a5-431c-a3e3-fcd950b47ed6"}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward to approach the small white hollow cylinder on the table near the assembly base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small white hollow cylinder on the table, making fine adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1780, "end_step": 1890, "id": "9aeaf6d1-1983-4ef4-bbc4-45bde6b79175"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transporting it upward to a position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, moving the block downward to fit onto the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1889, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block seated on the purple rod, moving slightly away from the assembled block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, with fingers slightly extended, without touching the block."}, {"label": "goal", "start_step": 1891, "end_step": 1965, "id": "323feb23-5e27-4295-b162-57a70ccbb884"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a grasp, with the block remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without obvious movement or hand shape change."}, {"label": "goal", "start_step": 1966, "end_step": 2175, "id": "596f21a1-b79f-4d77-a9ca-5216ba892396"}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark-colored table surface, and moves it upward and leftward to the position above the empty slot on the light wooden block rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2174, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the wooden block rack, inserts the block into the slot to complete the assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand releases the white bottle with a purple cap placed on the wooden tray, fingers opening to separate from the bottle surface."}, {"label": "goal", "start_step": 2176, "end_step": 2283, "id": "563ce16a-e492-45a1-8ad7-d69e70961176"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, approaching the target while remaining empty."}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green square block, fingers gradually closing to establish contact with the block which stays on the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand grips the green cubic block resting on the right black tabletop and lifts it upward until the block is completely separated from the table surface."}, {"label": "goal", "start_step": 2284, "end_step": 2871, "id": "8f159f65-df9b-4bc0-b860-f76a69366f8f"}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block, moving it upward and rightward to the position directly above the purple post on the wooden block tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green cubic block, aligns its central hole with the purple post, and fits the block down onto the post until the block is supported by underlying objects."}, {"label": "subtasks", "start_step": 2722, "end_step": 2857, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand maintains grip on the green cubic block fitted on the purple post, making slight finger and wrist adjustments to stabilize the block's placement."}, {"label": "subtasks", "start_step": 2858, "end_step": 2879, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green cubic block, fully separating the hand from the placed block."}, {"label": "home", "start_step": 2896, "end_step": 2926, "id": "YQ9hYw3TTza2R73qP4_iQ"}], "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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal block in front of the wooden peg base, with fingers extended, not yet contacting the target block."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green hexagonal block resting on the dark table near the wooden pegboard."}, {"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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden board and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block onto a purple peg of the wooden pegboard until the block rests on underlying blocks, opens fingers to release grip on the green block."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal block placed on the table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, makes small finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface in a stable grip, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to the position above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, slides the block down the rod and adjusts its position to complete the nesting assembly on top of the green block below."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downwards towards the front-left white hexagonal block on the dark work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block, making slight adjustments to finger contact points to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the unoccupied purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 810, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and slides the nut down the rod to fit into the assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns and fits the white block onto the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_reach: Right hand releases the fitted white block on the purple rod and moves downward empty toward the adjacent white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | 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 vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg, lowering the block to fit it onto the peg during assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple vertical peg without observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the front green hexagonal block on the dark table surface, keeping fingers open while approaching the target."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the front green hexagonal block on the table, closing fingers to make contact and form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the purple rod on the wooden block base, positioning it directly above the rod."}, {"label": "subtasks", "start_step": 1358, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block to slide it onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed near the green block on the table, approaching the target nut."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, fingers close and adjust contact points to establish a stable grip on the nut."}, {"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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"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 workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the wooden block rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the top white cylinder on the wooden assembly base, breaking contact with the object."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward to approach the small white hollow cylinder on the table near the assembly base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small white hollow cylinder on the table, making fine adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transporting it upward to a position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, moving the block downward to fit onto the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1889, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block seated on the purple rod, moving slightly away from the assembled block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, with fingers slightly extended, without touching the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a grasp, with the block remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without obvious movement or hand shape change."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark-colored table surface, and moves it upward and leftward to the position above the empty slot on the light wooden block rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2174, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the wooden block rack, inserts the block into the slot to complete the assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand releases the white bottle with a purple cap placed on the wooden tray, fingers opening to separate from the bottle surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, approaching the target while remaining empty."}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green square block, fingers gradually closing to establish contact with the block which stays on the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand grips the green cubic block resting on the right black tabletop and lifts it upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block, moving it upward and rightward to the position directly above the purple post on the wooden block tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green cubic block, aligns its central hole with the purple post, and fits the block down onto the post until the block is supported by underlying objects."}, {"label": "subtasks", "start_step": 2722, "end_step": 2857, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand maintains grip on the green cubic block fitted on the purple post, making slight finger and wrist adjustments to stabilize the block's placement."}, {"label": "subtasks", "start_step": 2858, "end_step": 2879, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green cubic block, fully separating the hand from the placed block."}], "episode_index": 14}
+{"source_uid": "14df67aefc306186", "num_frames": 4716, "annotation_status": "loaded", "has_annotation": true, "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 workbench without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block located on the left side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 168, "id": "d653ed38-d4a2-412d-a83d-e7000f94eb33"}, {"label": "valid", "start_step": 0, "end_step": 4685, "id": "QkyUBGpG7OpnewPK9tqjF"}, {"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 workbench without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left of the wooden pegboard, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green cubic block from the dark table surface."}, {"label": "goal", "start_step": 169, "end_step": 375, "id": "a3a14eb7-5a55-40d5-95bf-9c8e7171d417"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand fits the green cubic block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening to separate from the block."}, {"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 workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left-front purple peg of the wooden base."}, {"label": "goal", "start_step": 376, "end_step": 489, "id": "5d52d07c-ff4d-4d86-a648-9d5db652bd62"}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front-left area of the table."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 490, "end_step": 753, "id": "ac07ce6b-eb2b-4d1b-9641-c468857c8b28"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it backward and upward to above the front-left purple peg on the wooden board."}, {"label": "subtasks", "start_step": 525, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg and inserts it downward onto the peg, adjusting the part's position during assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening to release the grip."}, {"label": "goal", "start_step": 754, "end_step": 885, "id": "80703a3b-b717-4195-9e4f-a6fa1d7b15a3"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downwards from the wooden base area toward the white hexagonal block on the left side of the workbench surface."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench surface without any observable movement."}, {"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 workbench 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": 886, "end_step": 1074, "id": "d868fa82-a77f-4f7c-ab05-3ea846507b04"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 938, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the wooden rack and moves it downward along the rod for assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the middle purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1075, "end_step": 1683, "id": "d459bac5-805b-4285-a0b1-3b19e71db6c7"}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release_reach: Right hand releases the white hexagonal block from the middle purple peg and moves downward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: push: Right hand pushes the fallen white hexagonal block leftward across the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1717, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left side of the table surface without moving."}, {"label": "goal", "start_step": 1684, "end_step": 1881, "id": "40e7e15f-f430-4173-ad82-3e9b91750054"}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning the part's hole with the peg and lowering it to fit in place."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hexagonal part fitted on the purple peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple rod and releases the block."}, {"label": "goal", "start_step": 1882, "end_step": 1995, "id": "61bce51f-e661-4562-a98a-13e75a7dd444"}, {"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 workbench without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1920, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1996, "end_step": 2169, "id": "af9da33e-cfed-4a39-b367-044fa7dbfba1"}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the position above the wooden peg board."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden board."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white hollow block with the post on the green block of the block tower and releases it."}, {"label": "goal", "start_step": 2170, "end_step": 2301, "id": "a0dcbf26-425e-4f16-b33b-5cfacad5862a"}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table below the block tower."}, {"label": "subtasks", "start_step": 2212, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2302, "end_step": 2457, "id": "b6709577-0ed6-4e95-9d94-e5701060117f"}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upward and leftward toward the wooden block rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2444, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the green peg on the wooden rack and fits it down onto the peg."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hollow block on the block set peg, with fingers opening from a closed position."}, {"label": "goal", "start_step": 2458, "end_step": 2595, "id": "bcefbabe-6424-4d28-9fc7-ac4f1b4b90f7"}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2571, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "goal", "start_step": 2596, "end_step": 2748, "id": "8227272a-56bd-467d-b94a-f6a1ac25f21a"}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2721, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical rod and inserts the block downward along the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper block set area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 2749, "end_step": 2847, "id": "34f5a96f-e520-4196-aa3c-cc0d519342a3"}, {"label": "subtasks", "start_step": 2790, "end_step": 2864, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench 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": 2848, "end_step": 2970, "id": "20f77747-7a88-4e37-bf3c-601c6774c6cc"}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple rod on the rack."}, {"label": "subtasks", "start_step": 2895, "end_step": 2954, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2970, "end_step": 2984, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: retreat: Right hand retreats upward away from the white block on the purple rod."}, {"label": "goal", "start_step": 2971, "end_step": 4512, "id": "3a5fcce2-eeda-446a-86da-b2bac5669353"}, {"label": "subtasks", "start_step": 2985, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 3060, "end_step": 3081, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3127, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3128, "end_step": 3284, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns and fits the green cube onto a white bottle, making small adjustments to the cube's position during mating."}, {"label": "subtasks", "start_step": 3285, "end_step": 3299, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube upward off the top of the white bottle."}, {"label": "subtasks", "start_step": 3300, "end_step": 3337, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube downward to the table and places it on the table surface."}, {"label": "subtasks", "start_step": 3338, "end_step": 3351, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 3352, "end_step": 3374, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3375, "end_step": 3471, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 3472, "end_step": 3487, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube up from the table surface."}, {"label": "subtasks", "start_step": 3488, "end_step": 3517, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3518, "end_step": 4154, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand adjusts the green cube on a white bottle for mating, and releases its grip causing the cube to fall onto the table."}, {"label": "subtasks", "start_step": 4155, "end_step": 4221, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 4222, "end_step": 4327, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 4328, "end_step": 4341, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube slightly off the table surface."}, {"label": "subtasks", "start_step": 4342, "end_step": 4394, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube slightly and places it back on the table surface."}, {"label": "subtasks", "start_step": 4395, "end_step": 4409, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 4410, "end_step": 4499, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 4500, "end_step": 4537, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 4513, "end_step": 4658, "id": "e27a5212-99d6-4fce-a0ed-ff53dd4aa98c"}, {"label": "subtasks", "start_step": 4538, "end_step": 4567, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block from the dark table to the position above the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4568, "end_step": 4611, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped bottle by aligning the block's hole with the bottle top and lowering it onto the bottle."}, {"label": "subtasks", "start_step": 4612, "end_step": 4664, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block on the purple-topped bottle without moving."}, {"label": "home", "start_step": 4686, "end_step": 4715, "id": "wnT_pQHvQMUAAfo2EgKn6"}], "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 workbench without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block located on the left side of the wooden pegboard."}, {"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 workbench without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left of the wooden pegboard, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green cubic block from the dark table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand fits the green cubic block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening to separate from the block."}, {"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 workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left-front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front-left area of the table."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it backward and upward to above the front-left purple peg on the wooden board."}, {"label": "subtasks", "start_step": 525, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg and inserts it downward onto the peg, adjusting the part's position during assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening to release the grip."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downwards from the wooden base area toward the white hexagonal block on the left side of the workbench surface."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench surface without any observable movement."}, {"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 workbench 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": 915, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 938, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the wooden rack and moves it downward along the rod for assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the middle purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release_reach: Right hand releases the white hexagonal block from the middle purple peg and moves downward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: push: Right hand pushes the fallen white hexagonal block leftward across the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1717, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench 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": 1718, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning the part's hole with the peg and lowering it to fit in place."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hexagonal part fitted on the purple peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple rod and releases 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 workbench without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1920, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the position above the wooden peg board."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden board."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white hollow block with the post on the green block of the block tower and releases it."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table below the block tower."}, {"label": "subtasks", "start_step": 2212, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upward and leftward toward the wooden block rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2444, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the green peg on the wooden rack and fits it down onto the peg."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hollow block on the block set peg, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2571, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2721, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical rod and inserts the block downward along the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper block set area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 2864, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench 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": 2865, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple rod on the rack."}, {"label": "subtasks", "start_step": 2895, "end_step": 2954, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2970, "end_step": 2984, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: retreat: Right hand retreats upward away from the white block on the purple rod."}, {"label": "subtasks", "start_step": 2985, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 3060, "end_step": 3081, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3127, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3128, "end_step": 3284, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns and fits the green cube onto a white bottle, making small adjustments to the cube's position during mating."}, {"label": "subtasks", "start_step": 3285, "end_step": 3299, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube upward off the top of the white bottle."}, {"label": "subtasks", "start_step": 3300, "end_step": 3337, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube downward to the table and places it on the table surface."}, {"label": "subtasks", "start_step": 3338, "end_step": 3351, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 3352, "end_step": 3374, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3375, "end_step": 3471, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 3472, "end_step": 3487, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube up from the table surface."}, {"label": "subtasks", "start_step": 3488, "end_step": 3517, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3518, "end_step": 4154, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand adjusts the green cube on a white bottle for mating, and releases its grip causing the cube to fall onto the table."}, {"label": "subtasks", "start_step": 4155, "end_step": 4221, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 4222, "end_step": 4327, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 4328, "end_step": 4341, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube slightly off the table surface."}, {"label": "subtasks", "start_step": 4342, "end_step": 4394, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube slightly and places it back on the table surface."}, {"label": "subtasks", "start_step": 4395, "end_step": 4409, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 4410, "end_step": 4499, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 4500, "end_step": 4537, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 4538, "end_step": 4567, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block from the dark table to the position above the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4568, "end_step": 4611, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped bottle by aligning the block's hole with the bottle top and lowering it onto the bottle."}, {"label": "subtasks", "start_step": 4612, "end_step": 4664, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block on the purple-topped bottle without moving."}], "episode_index": 15}
+{"source_uid": "7ebd8556fe83244d", "num_frames": 3224, "annotation_status": "loaded", "has_annotation": true, "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 forward from the right side of the table towards the green block on the table in front of the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 218, "id": "d90765a8-147e-4bce-afd0-8d583834d1d6"}, {"label": "valid", "start_step": 0, "end_step": 3188, "id": "Tm1upEKHnPT66Rhxtj-OL"}, {"label": "subtasks", "start_step": 120, "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 contacts the green block and adjusts fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 219, "end_step": 365, "id": "17ebb417-9d6d-4b39-80ff-65d73c71cab4"}, {"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 block from the table and moves it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 359, "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 presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 360, "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: release: Right hand releases the green block that is now mounted on the purple peg."}, {"label": "goal", "start_step": 366, "end_step": 464, "id": "bc1d80d7-47b6-448d-a38a-856444c071d5"}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00006", "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 object placed on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "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 hexagonal block on the black table."}, {"label": "goal", "start_step": 465, "end_step": 686, "id": "4c854bbe-9068-4cbd-a297-904da9f825d0"}, {"label": "subtasks", "start_step": 488, "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_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "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 leftmost purple post and fits the block onto the post."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00011", "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 post to the bottom position."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "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 downwards towards the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 687, "end_step": 815, "id": "50b22b0c-b280-4e42-ad22-e0ebf0482534"}, {"label": "subtasks", "start_step": 735, "end_step": 779, "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 object on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "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 object on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "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 adjusts its grasp on the white cube placed on the black table surface."}, {"label": "goal", "start_step": 816, "end_step": 953, "id": "42bf9d6e-dd8e-43dc-abe8-10de0bfb34d3"}, {"label": "subtasks", "start_step": 832, "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_transport: Right hand lifts the white cube off the table and moves it towards the target purple rod on the storage rack."}, {"label": "subtasks", "start_step": 855, "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: mate: Right hand aligns the white cube with the purple rod and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "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 top of the stacked blocks on the wooden base."}, {"label": "goal", "start_step": 954, "end_step": 1103, "id": "f2bab397-14b6-49c9-8c63-36a04be0bfa0"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "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 small white object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1131, "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 small white object on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1104, "end_step": 1253, "id": "070fecd1-bfff-4c8d-b94a-388770cdf3b5"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "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 rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00024", "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 fix it tightly in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "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 assembly base toward the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1254, "end_step": 1355, "id": "6863ac6a-2a11-4684-9c2c-ec28467ea1d0"}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustments to stabilize the block."}, {"label": "goal", "start_step": 1356, "end_step": 1532, "id": "7878435d-d9bd-446b-ac92-c17cce600688"}, {"label": "subtasks", "start_step": 1380, "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: lift_transport: Right hand lifts the green square block off the tabletop and moves it towards the purple rod on the wooden 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 table without moving. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target purple rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green square block along the purple rod until it rests stably on the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "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 white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1533, "end_step": 1838, "id": "de2ce57f-7a8c-45d4-bd08-23e484ba7b64"}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "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 white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the held white hexagonal block to adjust its orientation, with little position change."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "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 reoriented white hexagonal block without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 1839, "end_step": 2180, "id": "19a85aee-c84a-4f15-aa30-01f1704af181"}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "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 cylindrical block with the target peg on the wooden base for insertion."}, {"label": "subtasks", "start_step": 1928, "end_step": 2174, "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 white cylindrical block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "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 cylindrical block and moves slightly away from the peg."}, {"label": "goal", "start_step": 2181, "end_step": 2306, "id": "8eacd8a6-c666-4f9d-be2b-443cb0872d15"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward empty, approaching the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "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 fingers to grasp the white cylindrical block on the table, with slight hand posture adjustment to stabilize the grip."}, {"label": "goal", "start_step": 2307, "end_step": 2465, "id": "15cd0c9e-70f3-4cb9-841a-3170c3ef0d46"}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00043", "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 downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2460, "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: reach: Right hand moves toward the white hexagonal block on the desktop."}, {"label": "goal", "start_step": 2466, "end_step": 2561, "id": "a1d46698-5ec9-4a11-81e7-0b56acbb70e4"}, {"label": "subtasks", "start_step": 2498, "end_step": 2579, "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 adjusts fingers to grasp the white hexagonal block on the desktop."}, {"label": "goal", "start_step": 2562, "end_step": 2828, "id": "91271e97-93a2-4cc7-8882-e849195b8a11"}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the tabletop and moves it to the position above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00047", "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 block onto the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2819, "id": "reasoning-language-00048", "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 block downwards to secure it in the slot of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2820, "end_step": 2849, "id": "reasoning-language-00049", "text": "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 with purple top onto the wooden block rack."}, {"label": "goal", "start_step": 2829, "end_step": 2945, "id": "00285fc2-dcd7-4c23-83b8-64a355d68916"}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "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 green cube on the black table."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "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 green cube on the black table."}, {"label": "goal", "start_step": 2946, "end_step": 3161, "id": "69d6bc4f-ef60-40a5-bb48-1ee24b51c093"}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "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 off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3134, "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 bottle with purple cap and inserts it onto the bottle to finish assembly."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "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 opens its fingers to release the green block."}, {"label": "home", "start_step": 3189, "end_step": 3223, "id": "Zd3q2e0E2oFtUwN7otDzE"}], "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 forward from the right side of the table towards the green block on the table in front of the left side of the wooden rack."}, {"label": "subtasks", "start_step": 120, "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 contacts the green block and adjusts fingers to establish a stable grasp on the block."}, {"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 block from the table and moves it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 359, "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 presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 360, "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: release: Right hand releases the green block that is now mounted on the purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00006", "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 object placed on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "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 hexagonal block on the black table."}, {"label": "subtasks", "start_step": 488, "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_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "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 leftmost purple post and fits the block onto the post."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00011", "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 post to the bottom position."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "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 downwards towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "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 object on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "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 object on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "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 adjusts its grasp on the white cube placed on the black table surface."}, {"label": "subtasks", "start_step": 832, "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_transport: Right hand lifts the white cube off the table and moves it towards the target purple rod on the storage rack."}, {"label": "subtasks", "start_step": 855, "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: mate: Right hand aligns the white cube with the purple rod and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "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 top of the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "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 small white object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1131, "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 small white object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "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 rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00024", "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 fix it tightly in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "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 assembly base toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustments to stabilize the block."}, {"label": "subtasks", "start_step": 1380, "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: lift_transport: Right hand lifts the green square block off the tabletop and moves it towards the purple rod on the wooden 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 table without moving. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target purple rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green square block along the purple rod until it rests stably on the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "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 white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the held white hexagonal block to adjust its orientation, with little position change."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "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 reoriented white hexagonal block without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "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 cylindrical block with the target peg on the wooden base for insertion."}, {"label": "subtasks", "start_step": 1928, "end_step": 2174, "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 white cylindrical block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "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 cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward empty, approaching the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "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 fingers to grasp the white cylindrical block on the table, with slight hand posture adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00043", "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 downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2460, "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: reach: Right hand moves toward the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 2498, "end_step": 2579, "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 adjusts fingers to grasp the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the tabletop and moves it to the position above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00047", "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 block onto the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2819, "id": "reasoning-language-00048", "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 block downwards to secure it in the slot of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2820, "end_step": 2849, "id": "reasoning-language-00049", "text": "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 with purple top onto the wooden block rack."}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "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 green cube on the black table."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "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 green cube on the black table."}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "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 off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3134, "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 bottle with purple cap and inserts it onto the bottle to finish assembly."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "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 opens its fingers to release the green block."}], "episode_index": 16}
+{"source_uid": "597e4a4ed9928f16", "num_frames": 3890, "annotation_status": "loaded", "has_annotation": true, "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 with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side of the table downward and leftward toward the green hexagonal block placed in front of the wooden pegboard, with fingers held extended."}, {"label": "goal", "start_step": 0, "end_step": 213, "id": "00bf2e36-8576-4bf4-a568-f2a99943e66a"}, {"label": "valid", "start_step": 0, "end_step": 3859, "id": "Db7t_oDHG3zEuQb07zwDb"}, {"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 with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and wrist orientation slightly to establish a stable grip on the block."}, {"label": "goal", "start_step": 214, "end_step": 387, "id": "f6cf3570-a2f8-431c-836b-4453fa013f01"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist 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 the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green block, moves it downward along the leftmost purple peg to the wooden base, and opens fingers to release the block onto the base."}, {"label": "goal", "start_step": 388, "end_step": 477, "id": "85a3048a-4b02-4c34-aa07-ec7f0e405339"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward from the pegboard area toward the front-left white hexagonal block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 428, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block, closes fingers around the block and makes small positional adjustments to establish a stable grip."}, {"label": "goal", "start_step": 478, "end_step": 819, "id": "59e2fa26-a611-4feb-b52f-38cc12eeb9f5"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward until it is completely separated from the dark table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward through the air to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple peg and fits the nut onto the peg to begin assembly."}, {"label": "subtasks", "start_step": 578, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: press: Right hand applies downward pressure on the white hexagonal nut, making small orientation adjustments to slide the nut further down the purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the leftmost white hexagonal block on the dark table surface, with fingers slightly spread."}, {"label": "goal", "start_step": 820, "end_step": 978, "id": "977cdbc9-deb4-4259-b5d7-176b5b68d511"}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving, maintaining a stable, motionless grip."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 979, "end_step": 1260, "id": "830845a3-3f71-4807-85e2-47ba77b7db16"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1297, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and moves the block downward to fit it onto the rod."}, {"label": "goal", "start_step": 1261, "end_step": 1383, "id": "15fd976b-685b-49a8-b8b3-4b0b6ffe5b10"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden stand area toward the white hexagonal block placed on the table in front of the stand, with no contact made to the target block yet."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block and makes slight wrist and finger adjustments to establish a stable grip, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1384, "end_step": 1560, "id": "15e626fa-0a87-4903-85b0-1200b0d2d808"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1544, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand makes slight positional and orientational adjustments to the white hexagonal cylinder to align its central hole with the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal cylinder down along the purple peg until it rests stably on the supporting block below on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the black table surface, with fingers kept open."}, {"label": "goal", "start_step": 1561, "end_step": 1755, "id": "730d7522-b790-40e4-84af-6545b8921774"}, {"label": "subtasks", "start_step": 1598, "end_step": 1769, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger and wrist positions around the green hexagonal block, closing fingers gradually to attempt establishing a stable grip on the block."}, {"label": "goal", "start_step": 1756, "end_step": 1911, "id": "dc5927cd-4950-415f-a428-d8db89665709"}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns and presses it down to fit onto the purple rod of the wooden block base."}, {"label": "goal", "start_step": 1912, "end_step": 2010, "id": "f4783581-01d4-4fa1-a8b8-dc2351a5aea7"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base area, approaching the white hexagonal block placed on the table near the loose green block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block with minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block is fully separated from the dark work surface."}, {"label": "goal", "start_step": 2011, "end_step": 2190, "id": "b77a164b-65f5-42e7-8866-76f84e21f748"}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts its position slightly, and lowers it to fit 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 workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked blocks on the wooden base, fingers gradually opening to separate fully from the block."}, {"label": "goal", "start_step": 2191, "end_step": 2328, "id": "61551c9e-92b4-478d-bbe7-28c775b88b4d"}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block placed near the wooden base without touching the block."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger position adjustments to establish a grasp, while the block stays stationary on the table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 2329, "end_step": 2472, "id": "3085f243-5152-4468-893b-9af8dc85f495"}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand moves downward to place the grasped white hexagonal block onto the base of the purple rod on the wooden pegboard, until the block is fully supported by the base."}, {"label": "goal", "start_step": 2473, "end_step": 2589, "id": "a73f52ec-cf23-4251-8272-ed0f02ad9772"}, {"label": "subtasks", "start_step": 2482, "end_step": 2497, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod base, separating fingers from the block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2527, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty rightward and downward toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making small finger adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block steadily on the right side of the table surface without observable movement."}, {"label": "goal", "start_step": 2590, "end_step": 2733, "id": "c2b4e223-6f1e-4349-be45-1f9fa5b7a3f4"}, {"label": "subtasks", "start_step": 2602, "end_step": 2654, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2655, "end_step": 2729, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden block holder and moves it downward to insert the block into the slot."}, {"label": "subtasks", "start_step": 2730, "end_step": 2797, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the upper area of the wooden bottle rack downward and rightward toward the green cube placed on the dark table surface."}, {"label": "goal", "start_step": 2734, "end_step": 3342, "id": "c6745973-8fc5-411c-905c-89e60caddc79"}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cube on the dark table surface to form a stable grip, with the cube remaining in contact with the table."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube upward and leftward through the air to position it directly above the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2888, "end_step": 3021, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the grasped green cube to align its central hole with the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3022, "end_step": 3194, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green cube above the purple-topped bottle on the wooden rack without any observable movement of the hand or the cube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3247, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube downward and rightward through the air away from the bottle rack, moving back toward the green cube's original position on the table."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the green cube until it rests stably on the dark table surface, opening its fingers to release the grip on the cube."}, {"label": "subtasks", "start_step": 3270, "end_step": 3291, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty a short distance away from the green cube resting on the table surface."}, {"label": "subtasks", "start_step": 3292, "end_step": 3329, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: idle: Right hand remains empty at a position adjacent to the green cube on the table, with no observable movement."}, {"label": "subtasks", "start_step": 3330, "end_step": 3367, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 3343, "end_step": 3834, "id": "19b7fba5-9e53-4945-a233-f4d5a642f311"}, {"label": "subtasks", "start_step": 3368, "end_step": 3381, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the green hexagonal block upward to completely raise it off the table surface."}, {"label": "subtasks", "start_step": 3382, "end_step": 3427, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the held green hexagonal block upward and forward to position it above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 3428, "end_step": 3584, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block stationary in the air directly above the purple peg on the wooden stand without moving."}, {"label": "subtasks", "start_step": 3585, "end_step": 3607, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 3608, "end_step": 3794, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted green hexagonal block on the purple peg without any visible movement or adjustment."}, {"label": "subtasks", "start_step": 3795, "end_step": 3839, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the grip on the green hexagonal block resting on the purple peg."}, {"label": "home", "start_step": 3860, "end_step": 3889, "id": "ua_f10J7I7WP997SKJULy"}], "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 with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side of the table downward and leftward toward the green hexagonal block placed in front of the wooden pegboard, with fingers held extended."}, {"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 with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and wrist orientation slightly to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist 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 the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green block, moves it downward along the leftmost purple peg to the wooden base, and opens fingers to release the block onto the base."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward from the pegboard area toward the front-left white hexagonal block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 428, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block, closes fingers around the block and makes small positional adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward until it is completely separated from the dark table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward through the air to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple peg and fits the nut onto the peg to begin assembly."}, {"label": "subtasks", "start_step": 578, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: press: Right hand applies downward pressure on the white hexagonal nut, making small orientation adjustments to slide the nut further down the purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the leftmost white hexagonal block on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving, maintaining a stable, motionless grip."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1297, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden stand area toward the white hexagonal block placed on the table in front of the stand, with no contact made to the target block yet."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block and makes slight wrist and finger adjustments to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1544, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand makes slight positional and orientational adjustments to the white hexagonal cylinder to align its central hole with the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal cylinder down along the purple peg until it rests stably on the supporting block below on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 1598, "end_step": 1769, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger and wrist positions around the green hexagonal block, closing fingers gradually to attempt establishing a stable grip on the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns and presses it down to fit onto the purple rod of the wooden block base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base area, approaching the white hexagonal block placed on the table near the loose green block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block with minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block is fully separated from the dark work surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts its position slightly, and lowers it to fit 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 workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked blocks on the wooden base, fingers gradually opening to separate fully from the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block placed near the wooden base without touching the block."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger position adjustments to establish a grasp, while the block stays stationary on the table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand moves downward to place the grasped white hexagonal block onto the base of the purple rod on the wooden pegboard, until the block is fully supported by the base."}, {"label": "subtasks", "start_step": 2482, "end_step": 2497, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod base, separating fingers from the block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2527, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty rightward and downward toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making small finger adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block steadily on the right side of the table surface without observable movement."}, {"label": "subtasks", "start_step": 2602, "end_step": 2654, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2655, "end_step": 2729, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden block holder and moves it downward to insert the block into the slot."}, {"label": "subtasks", "start_step": 2730, "end_step": 2797, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the upper area of the wooden bottle rack downward and rightward toward the green cube placed on the dark table surface."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cube on the dark table surface to form a stable grip, with the cube remaining in contact with the table."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube upward and leftward through the air to position it directly above the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2888, "end_step": 3021, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the grasped green cube to align its central hole with the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3022, "end_step": 3194, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green cube above the purple-topped bottle on the wooden rack without any observable movement of the hand or the cube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3247, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube downward and rightward through the air away from the bottle rack, moving back toward the green cube's original position on the table."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the green cube until it rests stably on the dark table surface, opening its fingers to release the grip on the cube."}, {"label": "subtasks", "start_step": 3270, "end_step": 3291, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty a short distance away from the green cube resting on the table surface."}, {"label": "subtasks", "start_step": 3292, "end_step": 3329, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: idle: Right hand remains empty at a position adjacent to the green cube on the table, with no observable movement."}, {"label": "subtasks", "start_step": 3330, "end_step": 3367, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 3368, "end_step": 3381, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the green hexagonal block upward to completely raise it off the table surface."}, {"label": "subtasks", "start_step": 3382, "end_step": 3427, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the held green hexagonal block upward and forward to position it above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 3428, "end_step": 3584, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block stationary in the air directly above the purple peg on the wooden stand without moving."}, {"label": "subtasks", "start_step": 3585, "end_step": 3607, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 3608, "end_step": 3794, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted green hexagonal block on the purple peg without any visible movement or adjustment."}, {"label": "subtasks", "start_step": 3795, "end_step": 3839, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the grip on the green hexagonal block resting on the purple peg."}], "episode_index": 17}
+{"source_uid": "3c914e601ce8a771", "num_frames": 4033, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the black table surface, without touching the block."}, {"label": "goal", "start_step": 0, "end_step": 889, "id": "9a7f0f4c-0215-478c-9b78-dcfa7b966059"}, {"label": "valid", "start_step": 0, "end_step": 4001, "id": "XOZ_JdMEMu0hy57S7dJ1V"}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "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 hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "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 hexagonal block upward and leftward toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "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 hexagonal block onto the leftmost purple peg, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "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 green hexagonal block that has fallen onto the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "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 green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 884, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand reorients the green hexagonal block on the black table, rotating the block to adjust its posture while its position remains mostly unchanged."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "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 green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 890, "end_step": 1027, "id": "7a6ca938-c669-439c-bbee-1de6b445b342"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 green cubic block upward off the dark table surface and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "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 green cubic block with the leftmost purple peg and lowers it along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "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 green cubic block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1028, "end_step": 1300, "id": "03d05efe-7901-407f-bbdd-27a60c229358"}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "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 toward the white hexagonal block on the table directly below the leftmost purple rod, keeping empty."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "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 closing and adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the white hexagonal block and moves it upward to align and fit onto the leftmost purple rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1301, "end_step": 1459, "id": "4645c931-5891-4cd0-aff2-2dd3d6cbaab2"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and leftward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1454, "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 hole of the white hexagonal block with the leftmost purple peg and inserts the block downward along the peg to assemble with the green block below."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "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 by opening its fingers and moving slightly upward."}, {"label": "goal", "start_step": 1460, "end_step": 1570, "id": "30a01df9-89ac-4168-ab25-a34d6e865f21"}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "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 dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "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 dark table surface with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1571, "end_step": 1750, "id": "f9f0d3a9-ced6-4a97-b4b8-d63c08af5ffa"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece off the black table surface."}, {"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 table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and toward the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 1739, "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 piece with a purple peg on the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the frontmost purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1751, "end_step": 1873, "id": "f1285740-f6c5-4407-841b-9e0eecff69ea"}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "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 white hexagonal block on the table above the green square block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "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 white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00031", "text": "Left hand: 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": 1860, "end_step": 1889, "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 next to the green block, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1874, "end_step": 2038, "id": "b5076fed-1ebd-425e-863f-485c50618d6f"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "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 white hexagonal block on the table next to the green block without moving."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "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 white hexagonal block onto the purple peg on the wooden board, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00036", "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 cubic block onto the middle purple peg of the wooden base, then opens fingers to release the block."}, {"label": "goal", "start_step": 2039, "end_step": 2158, "id": "f8a23d23-54c2-4525-9002-a16ca097c235"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg assembly area toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2181, "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 green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2159, "end_step": 2308, "id": "499ed6c5-6660-412f-b4a7-052dd291e4c0"}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "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 and transports the green hexagonal block from the table to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "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 green hexagonal block with the target vertical peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "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 green hexagonal block fitted on the target peg without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white block onto the purple vertical rod on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 2309, "end_step": 2407, "id": "37a2a9c5-46b1-4385-b7da-f0412be248f7"}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2362, "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: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2408, "end_step": 2560, "id": "ddbdb51e-c7ba-4719-846d-f66fbb9ebdbb"}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "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 hollow cylinder off the table and transports it toward the peg board at the back of the frame."}, {"label": "subtasks", "start_step": 2452, "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: mate: Right hand mates the white hollow cylinder with the peg on the peg board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2490, "end_step": 2549, "id": "reasoning-language-00047", "text": "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 peg of the board without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block with the purple vertical rod and releases its grasp."}, {"label": "goal", "start_step": 2561, "end_step": 2668, "id": "edce2e1b-bae2-41c7-bd38-d439da998608"}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2625, "end_step": 2684, "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 cylindrical block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 2669, "end_step": 2818, "id": "dd775d7e-3b56-4b98-a984-fa254b848501"}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "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 hollow block off the table and moves it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2797, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod on the wooden rack and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2798, "end_step": 2804, "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 white hollow block on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2805, "end_step": 2841, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand adjusts the white block on the purple rod to complete assembly, then releases the block."}, {"label": "goal", "start_step": 2819, "end_step": 3514, "id": "6d2e2968-45f1-426c-9b5c-ad555d2f8c18"}, {"label": "subtasks", "start_step": 2842, "end_step": 2887, "id": "reasoning-language-00055", "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 surface."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "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 closes its fingers to grasp the white hexagonal block on the table, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 2978, "end_step": 2991, "id": "reasoning-language-00057", "text": "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 until it leaves the table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3021, "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 holds the white block and moves up and left to the position above the purple rod."}, {"label": "subtasks", "start_step": 3022, "end_step": 3119, "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 block with the purple rod, lowers it onto the rod, and adjusts the position to complete the nesting assembly."}, {"label": "subtasks", "start_step": 3120, "end_step": 3134, "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 opens its fingers to release the white block on the purple rod."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "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 moves left towards the white block on the wooden rack."}, {"label": "subtasks", "start_step": 3180, "end_step": 3239, "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 closes its fingers to grasp the white block on the wooden rack, and slightly adjusts the grip."}, {"label": "subtasks", "start_step": 3240, "end_step": 3254, "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 white block up until it leaves the support of the wooden rack."}, {"label": "subtasks", "start_step": 3255, "end_step": 3314, "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 holds the white block and moves down and right to the position above the table surface."}, {"label": "subtasks", "start_step": 3315, "end_step": 3329, "id": "reasoning-language-00065", "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 block onto the table surface until it is stably supported by the table."}, {"label": "subtasks", "start_step": 3330, "end_step": 3344, "id": "reasoning-language-00066", "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 block on the table."}, {"label": "subtasks", "start_step": 3345, "end_step": 3397, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves to the other side of the white block on the table, approaching the block again."}, {"label": "subtasks", "start_step": 3398, "end_step": 3457, "id": "reasoning-language-00068", "text": "Left hand: idle: 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 table again, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 3458, "end_step": 3509, "id": "reasoning-language-00069", "text": "Left hand: 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 any observable movement."}, {"label": "subtasks", "start_step": 3510, "end_step": 3531, "id": "reasoning-language-00070", "text": "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 right side of the table, with fingers adjusting slightly to stabilize the grip."}, {"label": "goal", "start_step": 3515, "end_step": 3679, "id": "2ccdbaca-5677-45d2-9f6d-f9ab9660af1b"}, {"label": "subtasks", "start_step": 3532, "end_step": 3561, "id": "reasoning-language-00071", "text": "Left 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 rack."}, {"label": "subtasks", "start_step": 3562, "end_step": 3674, "id": "reasoning-language-00072", "text": "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 fits it down along the rod to complete assembly."}, {"label": "subtasks", "start_step": 3675, "end_step": 3689, "id": "reasoning-language-00073", "text": "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 on the purple rod, with fingers opening and separating from the object."}, {"label": "goal", "start_step": 3680, "end_step": 3772, "id": "5f2ae61e-53b5-4f0c-b008-78055946fe23"}, {"label": "subtasks", "start_step": 3690, "end_step": 3727, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the small purple object on the top of the white bottle at the wooden rack, then reaches toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3728, "end_step": 3794, "id": "reasoning-language-00075", "text": "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 dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 3773, "end_step": 3973, "id": "dabe7053-b9a0-402e-80c4-2d8ca6c2a76c"}, {"label": "subtasks", "start_step": 3795, "end_step": 3824, "id": "reasoning-language-00076", "text": "Left 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 rack with cylindrical posts at the table center."}, {"label": "subtasks", "start_step": 3825, "end_step": 3877, "id": "reasoning-language-00077", "text": "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-right post of the white rack and inserts it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 3878, "end_step": 3974, "id": "reasoning-language-00078", "text": "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 top-right post of the white rack without moving."}, {"label": "home", "start_step": 4002, "end_step": 4032, "id": "PbK_a5rCtovamWbDM5slH"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the black table surface, without touching the block."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "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 hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "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 hexagonal block upward and leftward toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "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 hexagonal block onto the leftmost purple peg, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "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 green hexagonal block that has fallen onto the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "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 green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 884, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand reorients the green hexagonal block on the black table, rotating the block to adjust its posture while its position remains mostly unchanged."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "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 green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 green cubic block upward off the dark table surface and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "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 green cubic block with the leftmost purple peg and lowers it along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "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 green cubic block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "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 toward the white hexagonal block on the table directly below the leftmost purple rod, keeping empty."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "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 closing and adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the white hexagonal block and moves it upward to align and fit onto the leftmost purple rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and leftward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1454, "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 hole of the white hexagonal block with the leftmost purple peg and inserts the block downward along the peg to assemble with the green block below."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "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 by opening its fingers and moving slightly upward."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "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 dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "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 dark table surface with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece off the black table surface."}, {"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 table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and toward the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 1739, "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 piece with a purple peg on the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the frontmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "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 white hexagonal block on the table above the green square block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "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 white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00031", "text": "Left hand: 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": 1860, "end_step": 1889, "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 next to the green block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "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 white hexagonal block on the table next to the green block without moving."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "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 white hexagonal block onto the purple peg on the wooden board, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00036", "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 cubic block onto the middle purple peg of the wooden base, then opens fingers to release the block."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg assembly area toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2181, "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 green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "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 and transports the green hexagonal block from the table to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "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 green hexagonal block with the target vertical peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "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 green hexagonal block fitted on the target peg without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white block onto the purple vertical rod on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2362, "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: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "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 hollow cylinder off the table and transports it toward the peg board at the back of the frame."}, {"label": "subtasks", "start_step": 2452, "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: mate: Right hand mates the white hollow cylinder with the peg on the peg board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2490, "end_step": 2549, "id": "reasoning-language-00047", "text": "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 peg of the board without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block with the purple vertical rod and releases its grasp."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2625, "end_step": 2684, "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 cylindrical block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "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 hollow block off the table and moves it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2797, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod on the wooden rack and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2798, "end_step": 2804, "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 white hollow block on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2805, "end_step": 2841, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand adjusts the white block on the purple rod to complete assembly, then releases the block."}, {"label": "subtasks", "start_step": 2842, "end_step": 2887, "id": "reasoning-language-00055", "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 surface."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "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 closes its fingers to grasp the white hexagonal block on the table, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 2978, "end_step": 2991, "id": "reasoning-language-00057", "text": "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 until it leaves the table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3021, "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 holds the white block and moves up and left to the position above the purple rod."}, {"label": "subtasks", "start_step": 3022, "end_step": 3119, "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 block with the purple rod, lowers it onto the rod, and adjusts the position to complete the nesting assembly."}, {"label": "subtasks", "start_step": 3120, "end_step": 3134, "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 opens its fingers to release the white block on the purple rod."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "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 moves left towards the white block on the wooden rack."}, {"label": "subtasks", "start_step": 3180, "end_step": 3239, "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 closes its fingers to grasp the white block on the wooden rack, and slightly adjusts the grip."}, {"label": "subtasks", "start_step": 3240, "end_step": 3254, "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 white block up until it leaves the support of the wooden rack."}, {"label": "subtasks", "start_step": 3255, "end_step": 3314, "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 holds the white block and moves down and right to the position above the table surface."}, {"label": "subtasks", "start_step": 3315, "end_step": 3329, "id": "reasoning-language-00065", "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 block onto the table surface until it is stably supported by the table."}, {"label": "subtasks", "start_step": 3330, "end_step": 3344, "id": "reasoning-language-00066", "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 block on the table."}, {"label": "subtasks", "start_step": 3345, "end_step": 3397, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves to the other side of the white block on the table, approaching the block again."}, {"label": "subtasks", "start_step": 3398, "end_step": 3457, "id": "reasoning-language-00068", "text": "Left hand: idle: 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 table again, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 3458, "end_step": 3509, "id": "reasoning-language-00069", "text": "Left hand: 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 any observable movement."}, {"label": "subtasks", "start_step": 3510, "end_step": 3531, "id": "reasoning-language-00070", "text": "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 right side of the table, with fingers adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 3532, "end_step": 3561, "id": "reasoning-language-00071", "text": "Left 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 rack."}, {"label": "subtasks", "start_step": 3562, "end_step": 3674, "id": "reasoning-language-00072", "text": "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 fits it down along the rod to complete assembly."}, {"label": "subtasks", "start_step": 3675, "end_step": 3689, "id": "reasoning-language-00073", "text": "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 on the purple rod, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 3690, "end_step": 3727, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the small purple object on the top of the white bottle at the wooden rack, then reaches toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3728, "end_step": 3794, "id": "reasoning-language-00075", "text": "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 dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3795, "end_step": 3824, "id": "reasoning-language-00076", "text": "Left 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 rack with cylindrical posts at the table center."}, {"label": "subtasks", "start_step": 3825, "end_step": 3877, "id": "reasoning-language-00077", "text": "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-right post of the white rack and inserts it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 3878, "end_step": 3974, "id": "reasoning-language-00078", "text": "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 top-right post of the white rack without moving."}], "episode_index": 18}
+{"source_uid": "88c950aabb07f750", "num_frames": 3493, "annotation_status": "loaded", "has_annotation": true, "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 block located at the top left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 165, "id": "5be79ace-0317-47de-b72c-363c367c8d5e"}, {"label": "valid", "start_step": 0, "end_step": 3461, "id": "N2pim4Okn5F3tXcNJ0yaO"}, {"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 table without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to form a stable grasp on the white block at the top left of the wooden base."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards away from the wooden base."}, {"label": "subtasks", "start_step": 165, "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: grasp: Right hand adjusts fingers to stably grasp the green cubic block on the black table surface."}, {"label": "goal", "start_step": 166, "end_step": 648, "id": "2770d055-823b-485a-8597-aa016d476229"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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 up away from the black table surface."}, {"label": "subtasks", "start_step": 202, "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: mate: Right hand aligns the green cubic block with the leftmost purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "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 cubic block down along the purple rod until it reaches the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 651, "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 cubic block and moves slightly upward."}, {"label": "goal", "start_step": 649, "end_step": 783, "id": "a2295483-42ba-4ed6-ad07-9e5e8503bc92"}, {"label": "subtasks", "start_step": 652, "end_step": 704, "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 towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand stays empty above the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "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 table."}, {"label": "goal", "start_step": 784, "end_step": 1062, "id": "081f1200-161e-4ed5-a46f-27f7eb186a48"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "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 moves it to above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 908, "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 peg to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1063, "end_step": 1239, "id": "1c86f480-3113-448b-9af1-5d148732a585"}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "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 black table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1259, "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 adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1240, "end_step": 1392, "id": "3b3d904c-04f1-4158-a25d-91c693fd45c4"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "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 table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "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 with the leftmost purple rod on the wooden base, lowering it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1393, "end_step": 1560, "id": "f934faa2-62e7-4341-96e4-9163e07596c4"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "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 fingers to grasp the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "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 off the black table surface."}, {"label": "goal", "start_step": 1561, "end_step": 1746, "id": "dbbf00ac-6a46-40ad-9359-2df6442bd305"}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 purple rod of the wooden stand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1739, "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 cylindrical block onto the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the green cube on the table."}, {"label": "goal", "start_step": 1747, "end_step": 1866, "id": "cd42ae55-9f94-4834-a9f5-a8df688df8ea"}, {"label": "subtasks", "start_step": 1800, "end_step": 1881, "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 adjusts fingers to form a stable grip on the green cube placed on the table."}, {"label": "goal", "start_step": 1867, "end_step": 2004, "id": "70a7cbf5-ca8a-457f-9044-1801a30b1d52"}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "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 block off the table and transports it towards the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "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 block with the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00030", "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 fit it onto the peg."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 block onto the rod on the wooden base."}, {"label": "goal", "start_step": 2005, "end_step": 2109, "id": "243c5976-b04e-4fdd-a87e-11a8ef415088"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2129, "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 fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 2110, "end_step": 2295, "id": "8371bd21-d417-4128-806e-dc3cc46765c1"}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "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 block upward off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "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 block toward the peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "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 target peg of the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2294, "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 white cylindrical block downward to fix it firmly on the peg."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "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 cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 2296, "end_step": 2388, "id": "569ef105-2c0e-49b3-9896-83f2c1ddd6d8"}, {"label": "subtasks", "start_step": 2325, "end_step": 2369, "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 toward the white cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "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 fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 2389, "end_step": 2550, "id": "579e383a-a2c8-4875-9570-b8c1014d85d7"}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2452, "end_step": 2549, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder fitted on the purple rod."}, {"label": "goal", "start_step": 2551, "end_step": 2673, "id": "5f32bda1-5a72-43eb-b2ed-2a6c0b62256b"}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to its lower right."}, {"label": "subtasks", "start_step": 2588, "end_step": 2684, "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 contacts the white hexagonal block and adjusts its fingers to form a stable grip."}, {"label": "goal", "start_step": 2674, "end_step": 2838, "id": "3bf2ab64-3141-40a6-a2ae-7e6272d10ef1"}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00047", "text": "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 on the top of the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2834, "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 block onto the purple post by pushing it down along the post."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "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 block on the right side of the wooden base."}, {"label": "goal", "start_step": 2839, "end_step": 2958, "id": "aff89db1-fc9b-4f2e-87fe-366ff01608a0"}, {"label": "subtasks", "start_step": 2858, "end_step": 2894, "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 green square block placed on the table."}, {"label": "subtasks", "start_step": 2895, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2959, "end_step": 3417, "id": "0f7ed2f4-f5df-43bd-8a74-ed7dff188871"}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "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 hollow block from the table and transports it towards the white cylindrical rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3037, "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 hollow block with the top white cylinder on the rack and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 3038, "end_step": 3419, "id": "reasoning-language-00054", "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 hollow block down along the white cylinder to fit it stably, then releases the block."}, {"label": "home", "start_step": 3462, "end_step": 3492, "id": "qahSHpu2KZMUR2hgjEIlO"}], "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 block located at the top left of the wooden base."}, {"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 table without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to form a stable grasp on the white block at the top left of the wooden base."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards away from the wooden base."}, {"label": "subtasks", "start_step": 165, "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: grasp: Right hand adjusts fingers to stably grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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 up away from the black table surface."}, {"label": "subtasks", "start_step": 202, "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: mate: Right hand aligns the green cubic block with the leftmost purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "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 cubic block down along the purple rod until it reaches the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 651, "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 cubic block and moves slightly upward."}, {"label": "subtasks", "start_step": 652, "end_step": 704, "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 towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand stays empty above the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "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 table."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "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 moves it to above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 908, "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 peg to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "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 black table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1259, "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 adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "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 table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "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 with the leftmost purple rod on the wooden base, lowering it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "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 fingers to grasp the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "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 off the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 purple rod of the wooden stand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1739, "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 cylindrical block onto the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the green cube on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1881, "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 adjusts fingers to form a stable grip on the green cube placed on the table."}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "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 block off the table and transports it towards the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "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 block with the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00030", "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 fit it onto the peg."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 block onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2129, "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 fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "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 block upward off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "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 block toward the peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "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 target peg of the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2294, "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 white cylindrical block downward to fix it firmly on the peg."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "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 cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2369, "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 toward the white cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "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 fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2452, "end_step": 2549, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to its lower right."}, {"label": "subtasks", "start_step": 2588, "end_step": 2684, "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 contacts the white hexagonal block and adjusts its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00047", "text": "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 on the top of the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2834, "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 block onto the purple post by pushing it down along the post."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "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 block on the right side of the wooden base."}, {"label": "subtasks", "start_step": 2858, "end_step": 2894, "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 green square block placed on the table."}, {"label": "subtasks", "start_step": 2895, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "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 hollow block from the table and transports it towards the white cylindrical rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3037, "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 hollow block with the top white cylinder on the rack and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 3038, "end_step": 3419, "id": "reasoning-language-00054", "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 hollow block down along the white cylinder to fit it stably, then releases the block."}], "episode_index": 19}
+{"source_uid": "2c9cc6a6efdf7ffe", "num_frames": 3801, "annotation_status": "loaded", "has_annotation": true, "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 with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with open fingers, showing no autonomous movement or hand shape change during this period."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "1bcc829f-849f-4cb9-bbc6-7405483af11c"}, {"label": "valid", "start_step": 0, "end_step": 3769, "id": "xhKe2EvxU8oBPvpTBXpbh"}, {"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 with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand with open fingers moves downward and leftward from its resting position toward the small object on the table in front of the wooden block base."}, {"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 with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the small target object near the green block on the table, making small finger and wrist adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 187, "end_step": 321, "id": "7db2937d-14c5-4472-a939-1c93cd150c6d"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward, completely separating it from the supporting table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block through the air toward the wooden assembly board, positioning it directly above the target left purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the left purple peg, and slides it down the peg to seat it on the existing stack of blocks as part of the assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the green block onto the purple rod of the wooden base, fingers open to release the block as it settles stably on the base."}, {"label": "goal", "start_step": 322, "end_step": 489, "id": "28f5dc3e-12d8-48d7-9177-8f1871849371"}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front left white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand fingers make slight adjusting movements while closing around the white hexagonal block to form a stable grip."}, {"label": "goal", "start_step": 490, "end_step": 612, "id": "c281101f-ff03-4a29-b90f-68c3e6b135b7"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, assembling it onto the existing green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand holds the white-topped block, lowers it onto the purple peg of the wooden assembly until the block is fully seated, then opens fingers to release the block."}, {"label": "goal", "start_step": 613, "end_step": 738, "id": "467eec47-b2fe-4b7e-bd67-71af59b59011"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves down and slightly left from the wooden assembly toward the leftmost white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the leftmost white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the leftmost white hexagonal nut on the black table surface without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 739, "end_step": 867, "id": "bd7de0ed-15cb-40ac-995f-523810ead839"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to place it onto the purple post on the wooden base."}, {"label": "goal", "start_step": 868, "end_step": 978, "id": "347f88f0-91c7-45f5-a6ec-9a09439d4db7"}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward empty to approach the white hollow block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hollow block on the table to establish a stable grip."}, {"label": "goal", "start_step": 979, "end_step": 1110, "id": "9b6496cf-dacc-4886-8677-f427ca5eefaa"}, {"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 workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block fully off the table surface and moves it upward to position it directly above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central opening of the white cylindrical block with the purple post and lowers the block to fit it onto the post, establishing the nested assembly connection."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block onto the purple vertical rod on the wooden base, releases the block, and moves fingers away from the positioned object."}, {"label": "goal", "start_step": 1111, "end_step": 1230, "id": "9b6cf2d2-7f8c-4177-ae94-ece8cdcb973c"}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the left green hexagonal block on the black table surface, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes small finger and wrist adjustments to establish contact and form a grasp on the left green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward, until the block is fully separated from the dark table surface."}, {"label": "goal", "start_step": 1231, "end_step": 1644, "id": "0549c86e-b0c0-4340-b556-84a60c8e071d"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block through the air toward the wooden assembly rack, positioning the block directly above the purple vertical rod on the rack."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the purple vertical rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1320, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand slides the green hexagonal block down the purple vertical rod, lowering it until the block rests stably on the underlying white block on the assembly rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the green hexagonal block, separating from the block which remains seated on the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand stays empty above the wooden block assembly base without any observable movement."}, {"label": "goal", "start_step": 1645, "end_step": 2673, "id": "9cb42c84-0281-48cc-a508-e11184e8e131"}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal block placed on the dark table surface to the left of the green hexagonal block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to finger positions to establish a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple vertical rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2309, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, then moves the block downward to fit onto the rod, making small positional adjustments to the block during the process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2361, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand grips the white hexagonal block on the purple rod and pulls it upward until the block is fully removed from the rod."}, {"label": "subtasks", "start_step": 2362, "end_step": 2519, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block downward, moving it back toward the area of the table where the block was originally placed."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal block downward until the block rests stably on the table surface, with fingers still holding the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the table, separating the fingers from contact with the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty near the placed white hexagonal block without any observable movement."}, {"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 workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "goal", "start_step": 2674, "end_step": 2841, "id": "7731f9c0-1a4a-424b-83af-f99aa89b18de"}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2730, "end_step": 2834, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut adjacent to the wooden assembly base, with fingers kept open."}, {"label": "goal", "start_step": 2842, "end_step": 3000, "id": "5b9a5192-f8a7-442f-b9a0-61f92c906bf8"}, {"label": "subtasks", "start_step": 2895, "end_step": 2999, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger and wrist adjustments to establish a stable grip, with the nut remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward from the dark table surface, with the block fully detaching from the table by the end of the segment."}, {"label": "goal", "start_step": 3001, "end_step": 3138, "id": "e9a1c397-249f-4a6f-a317-d194f06555a4"}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the light wooden base."}, {"label": "subtasks", "start_step": 3060, "end_step": 3127, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the purple rod, and moves the block downward along the rod until the block rests steadily on the wooden base surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3134, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block seated on the purple rod, and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface near the stacked block set."}, {"label": "goal", "start_step": 3139, "end_step": 3246, "id": "05ff3105-48dc-4ed6-bf61-62a29c91a98e"}, {"label": "subtasks", "start_step": 3180, "end_step": 3224, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 3225, "end_step": 3261, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip with the nut still resting on the table."}, {"label": "goal", "start_step": 3247, "end_step": 3384, "id": "48a6c10a-6d8e-4ef2-aa9d-0a3a7ea004ac"}, {"label": "subtasks", "start_step": 3262, "end_step": 3299, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and left toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 3300, "end_step": 3374, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 3375, "end_step": 3381, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3382, "end_step": 3389, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 3385, "end_step": 3528, "id": "018465a7-b640-4592-b045-2596c103bd43"}, {"label": "subtasks", "start_step": 3390, "end_step": 3441, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3442, "end_step": 3547, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make slight adjustments to establish a grip on the block, which remains on the table surface."}, {"label": "goal", "start_step": 3529, "end_step": 3729, "id": "32d06eb6-b344-41b6-873f-e1393f912f74"}, {"label": "subtasks", "start_step": 3548, "end_step": 3561, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand moves vertically upward to lift the green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 3562, "end_step": 3599, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward to the position directly above the target white peg on the wooden block stand."}, {"label": "subtasks", "start_step": 3600, "end_step": 3734, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the target white peg on the wooden stand, moves downward to fit the block onto the peg to establish the assembly connection."}, {"label": "home", "start_step": 3770, "end_step": 3800, "id": "givHpxhwpaypR9MUsMTyN"}], "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 with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with open fingers, showing no autonomous movement or hand shape change during this period."}, {"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 with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand with open fingers moves downward and leftward from its resting position toward the small object on the table in front of the wooden block base."}, {"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 with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the small target object near the green block on the table, making small finger and wrist adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward, completely separating it from the supporting table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block through the air toward the wooden assembly board, positioning it directly above the target left purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the left purple peg, and slides it down the peg to seat it on the existing stack of blocks as part of the assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the green block onto the purple rod of the wooden base, fingers open to release the block as it settles stably on the base."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front left white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand fingers make slight adjusting movements while closing around the white hexagonal block to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, assembling it onto the existing green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand holds the white-topped block, lowers it onto the purple peg of the wooden assembly until the block is fully seated, then opens fingers to release the block."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves down and slightly left from the wooden assembly toward the leftmost white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the leftmost white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the leftmost white hexagonal nut on the black table surface without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to place it onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward empty to approach the white hollow block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hollow block on the table to establish a stable grip."}, {"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 workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block fully off the table surface and moves it upward to position it directly above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central opening of the white cylindrical block with the purple post and lowers the block to fit it onto the post, establishing the nested assembly connection."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block onto the purple vertical rod on the wooden base, releases the block, and moves fingers away from the positioned object."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the left green hexagonal block on the black table surface, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes small finger and wrist adjustments to establish contact and form a grasp on the left green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward, until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block through the air toward the wooden assembly rack, positioning the block directly above the purple vertical rod on the rack."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the purple vertical rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1320, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand slides the green hexagonal block down the purple vertical rod, lowering it until the block rests stably on the underlying white block on the assembly rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the green hexagonal block, separating from the block which remains seated on the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand stays empty above the wooden block assembly base without any observable movement."}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal block placed on the dark table surface to the left of the green hexagonal block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to finger positions to establish a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple vertical rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2309, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, then moves the block downward to fit onto the rod, making small positional adjustments to the block during the process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2361, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand grips the white hexagonal block on the purple rod and pulls it upward until the block is fully removed from the rod."}, {"label": "subtasks", "start_step": 2362, "end_step": 2519, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block downward, moving it back toward the area of the table where the block was originally placed."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal block downward until the block rests stably on the table surface, with fingers still holding the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the table, separating the fingers from contact with the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty near the placed white hexagonal block without any observable movement."}, {"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 workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2730, "end_step": 2834, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut adjacent to the wooden assembly base, with fingers kept open."}, {"label": "subtasks", "start_step": 2895, "end_step": 2999, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger and wrist adjustments to establish a stable grip, with the nut remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward from the dark table surface, with the block fully detaching from the table by the end of the segment."}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the light wooden base."}, {"label": "subtasks", "start_step": 3060, "end_step": 3127, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the purple rod, and moves the block downward along the rod until the block rests steadily on the wooden base surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3134, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block seated on the purple rod, and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface near the stacked block set."}, {"label": "subtasks", "start_step": 3180, "end_step": 3224, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 3225, "end_step": 3261, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip with the nut still resting on the table."}, {"label": "subtasks", "start_step": 3262, "end_step": 3299, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and left toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 3300, "end_step": 3374, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 3375, "end_step": 3381, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3382, "end_step": 3389, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 3390, "end_step": 3441, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3442, "end_step": 3547, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make slight adjustments to establish a grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 3548, "end_step": 3561, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand moves vertically upward to lift the green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 3562, "end_step": 3599, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward to the position directly above the target white peg on the wooden block stand."}, {"label": "subtasks", "start_step": 3600, "end_step": 3734, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the target white peg on the wooden stand, moves downward to fit the block onto the peg to establish the assembly connection."}], "episode_index": 20}
+{"source_uid": "06018246045d8e7e", "num_frames": 2949, "annotation_status": "loaded", "has_annotation": true, "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 home position and stops, remaining empty with fingers slightly open. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 234, "id": "0061639f-5a6f-4bee-b956-d9a411ef0765"}, {"label": "valid", "start_step": 0, "end_step": 2917, "id": "aQbV-hsNzulMmkgb_VXpW"}, {"label": "subtasks", "start_step": 38, "end_step": 127, "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 leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "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 grasps the green cubic block on the left side of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00004", "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 cubic block on the left side of the table without moving, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "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 hexagonal block on the table to the left of the wooden base, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 235, "end_step": 477, "id": "128d6c9e-416b-479e-8723-06df0b1ea4f5"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "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 hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 464, "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 hexagonal block onto the leftmost purple peg of the wooden base, lowering it along the peg until it reaches the wooden base plate."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00008", "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 leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 478, "end_step": 645, "id": "2026574e-cc87-4d2c-9804-029f671ed391"}, {"label": "subtasks", "start_step": 495, "end_step": 531, "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 down and left to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "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 grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "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 black table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "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 part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 646, "end_step": 786, "id": "aee15d8b-274a-47e0-acbe-a4d2eb2be3e0"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "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 part from the table and transports it upward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "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 part with the purple peg on the wooden board and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 787, "end_step": 912, "id": "4ebc8ae9-5d7a-49f9-ae6b-6d34f4921c5f"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00016", "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 leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00017", "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 leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "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 leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 grasps the white hexagonal block on the black table surface, with fingers adjusting slightly to stabilize the grip."}, {"label": "goal", "start_step": 913, "end_step": 1143, "id": "c174867f-e87b-4dc0-ac74-9c6c611df90a"}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00021", "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 off the table and transports it to above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 990, "end_step": 1117, "id": "reasoning-language-00022", "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 hexagonal block onto the leftmost peg of the pegboard by aligning the hole and inserting it downward."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00023", "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 leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "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-left of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1144, "end_step": 1239, "id": "b92a98bc-727e-4b09-b579-be66aa7c4a48"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "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 and rightward toward the white hexagonal cylindrical object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "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 grasps the white hexagonal cylindrical object on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1240, "end_step": 1374, "id": "05e2bab0-7b96-4235-b377-1a3b447186ca"}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "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 hollow hexagonal piece from the table and transports it to above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "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: mate: Right hand mates the white hollow hexagonal piece onto the purple vertical rod by aligning and lowering it into the assembled position."}, {"label": "goal", "start_step": 1375, "end_step": 1506, "id": "b81196fb-9732-40cb-a873-4a809c089dc6"}, {"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: reach: Right hand reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00030", "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 table with fingers closing around it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "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 cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1507, "end_step": 1662, "id": "63f063d8-8c6f-459a-ba6d-1713ba79112a"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "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 table and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1649, "id": "reasoning-language-00034", "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 hexagonal block with the purple peg on the wooden rack, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "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 green block of the wooden base, with fingers gradually opening."}, {"label": "goal", "start_step": 1663, "end_step": 1812, "id": "08a19d21-7b9a-43c0-b51d-f0dfdaf62cb2"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00036", "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 green cubic block and white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00037", "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 table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00038", "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 cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "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 adjusts its fingers to form a stable grasp on the white cylindrical object resting on the green cube, with the object staying stationary on the support."}, {"label": "goal", "start_step": 1813, "end_step": 1995, "id": "9c776321-b9d5-4373-9258-d7ae016166ad"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "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 cylindrical object off the green cube and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1994, "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 aligns the inner hole of the white cylindrical object with the purple rod on the wooden base and inserts the object downward onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 opens its fingers to release the white cylindrical object, fully separating from the object."}, {"label": "goal", "start_step": 1996, "end_step": 2157, "id": "f4426974-ff3d-4f15-bf6e-c72ebe4a9157"}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "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 to the right of the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "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 adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00045", "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": 2145, "end_step": 2211, "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 grasps the white hexagonal block on the table adjacent to the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2158, "end_step": 2361, "id": "ab6f0a45-3741-4248-a57b-1967eef83daf"}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "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 white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand pushes the white block downward along the purple rod to complete the assembly."}, {"label": "goal", "start_step": 2362, "end_step": 2463, "id": "766976ad-7b6f-41d0-a756-0fe924ff19bc"}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "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 block on the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2481, "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 block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2464, "end_step": 2610, "id": "4c6b3f90-a7d9-4293-9bb7-2c35b754fdff"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "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 perforated cube off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2609, "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 aligns the white perforated cube with the purple rod on the wooden rack and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00054", "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 bottle on the wooden rack, with fingers opening and separating from the bottle top."}, {"label": "goal", "start_step": 2611, "end_step": 2751, "id": "2cfe9df2-c17f-4ceb-869f-faad5d35d3df"}, {"label": "subtasks", "start_step": 2632, "end_step": 2661, "id": "reasoning-language-00055", "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 to approach the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2774, "id": "reasoning-language-00056", "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 adjusting to form a stable grip."}, {"label": "goal", "start_step": 2752, "end_step": 2886, "id": "b8a0251c-5c04-4ff0-8c94-ebab687e5f78"}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00057", "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 transports it upward and leftward toward the bottle rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00058", "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 bottle on the wooden rack to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the green block down onto the target bottle until the block is stably supported by the bottle."}, {"label": "home", "start_step": 2918, "end_step": 2948, "id": "7Y5IlZj7mSRpSQ19g4iEG"}], "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 home position and stops, remaining empty with fingers slightly open. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 38, "end_step": 127, "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 leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "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 grasps the green cubic block on the left side of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00004", "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 cubic block on the left side of the table without moving, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "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 hexagonal block on the table to the left of the wooden base, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "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 hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 464, "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 hexagonal block onto the leftmost purple peg of the wooden base, lowering it along the peg until it reaches the wooden base plate."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00008", "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 leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "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 down and left to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "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 grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "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 black table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "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 part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "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 part from the table and transports it upward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "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 part with the purple peg on the wooden board and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00016", "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 leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00017", "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 leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "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 leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 grasps the white hexagonal block on the black table surface, with fingers adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00021", "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 off the table and transports it to above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 990, "end_step": 1117, "id": "reasoning-language-00022", "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 hexagonal block onto the leftmost peg of the pegboard by aligning the hole and inserting it downward."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00023", "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 leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "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-left of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "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 and rightward toward the white hexagonal cylindrical object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "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 grasps the white hexagonal cylindrical object on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "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 hollow hexagonal piece from the table and transports it to above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "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: mate: Right hand mates the white hollow hexagonal piece onto the purple vertical rod by aligning and lowering it into the assembled position."}, {"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: reach: Right hand reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00030", "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 table with fingers closing around it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "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 cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "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 table and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1649, "id": "reasoning-language-00034", "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 hexagonal block with the purple peg on the wooden rack, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "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 green block of the wooden base, with fingers gradually opening."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00036", "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 green cubic block and white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00037", "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 table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00038", "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 cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "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 adjusts its fingers to form a stable grasp on the white cylindrical object resting on the green cube, with the object staying stationary on the support."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "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 cylindrical object off the green cube and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1994, "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 aligns the inner hole of the white cylindrical object with the purple rod on the wooden base and inserts the object downward onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 opens its fingers to release the white cylindrical object, fully separating from the object."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "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 to the right of the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "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 adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00045", "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": 2145, "end_step": 2211, "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 grasps the white hexagonal block on the table adjacent to the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "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 white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand pushes the white block downward along the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "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 block on the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2481, "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 block on the table, with fingers adjusting 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 home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white perforated cube off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2609, "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 aligns the white perforated cube with the purple rod on the wooden rack and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00054", "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 bottle on the wooden rack, with fingers opening and separating from the bottle top."}, {"label": "subtasks", "start_step": 2632, "end_step": 2661, "id": "reasoning-language-00055", "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 to approach the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2774, "id": "reasoning-language-00056", "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 adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00057", "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 transports it upward and leftward toward the bottle rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00058", "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 bottle on the wooden rack to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the green block down onto the target bottle until the block is stably supported by the bottle."}], "episode_index": 21}
+{"source_uid": "27c76cb11696449b", "num_frames": 3889, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 179, "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 small white part in front of the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 258, "id": "a7cd08c9-7f7e-4303-a245-7034a995cf13"}, {"label": "valid", "start_step": 0, "end_step": 3857, "id": "rhOXMQiDKzoijQhArYjsS"}, {"label": "subtasks", "start_step": 180, "end_step": 277, "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 small white part in front of the wooden rack."}, {"label": "goal", "start_step": 259, "end_step": 408, "id": "f5eeca2c-166d-41c3-8f81-13a1f0ef18b3"}, {"label": "subtasks", "start_step": 278, "end_step": 314, "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 cube off the workspace and moves it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "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 cube with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "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 cube downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the 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": 409, "end_step": 570, "id": "7ffcbd6a-a5c9-4e87-834a-f03e3462f6d4"}, {"label": "subtasks", "start_step": 450, "end_step": 509, "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 hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 571, "end_step": 723, "id": "3fbce14a-b13c-40aa-b23c-f69ffb10b517"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "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 object from the table surface and transports it to above the purple peg on the base."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "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 object onto the purple peg on the base, adjusting to make it fit properly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "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 purple rod on the wooden base."}, {"label": "goal", "start_step": 724, "end_step": 849, "id": "6f9259cc-71cc-407a-b4f1-e379f75b165c"}, {"label": "subtasks", "start_step": 750, "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: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 877, "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 850, "end_step": 1071, "id": "40b373c5-f4ee-45a8-98af-c04f8e245d98"}, {"label": "subtasks", "start_step": 878, "end_step": 914, "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 off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "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's hole with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00016", "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 its position."}, {"label": "subtasks", "start_step": 1058, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "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 small white cylinder in front of the wooden peg base."}, {"label": "goal", "start_step": 1072, "end_step": 1170, "id": "c94b6d8d-51d6-433b-b635-326ae4467dd2"}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "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 form a stable grasp on the small white cylinder in front of the wooden peg base."}, {"label": "goal", "start_step": 1171, "end_step": 1371, "id": "85c90fbd-bc76-462a-81f9-1065b0bb5b36"}, {"label": "subtasks", "start_step": 1200, "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: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1311, "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 hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to secure it in place on the peg stack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "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 rod of the wooden base."}, {"label": "goal", "start_step": 1372, "end_step": 1563, "id": "e20c66fc-4d4f-4452-baf8-5aa2095cc314"}, {"label": "subtasks", "start_step": 1410, "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: reach: Right hand moves downward towards the green square block on the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1581, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green square block on the table."}, {"label": "goal", "start_step": 1564, "end_step": 1782, "id": "c6b0e9a8-d564-40b9-bec7-f8b4bfe12624"}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "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 green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "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 moves the green block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "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 onto the peg."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1770, "end_step": 1844, "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 block base towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1783, "end_step": 2535, "id": "6b62ba75-aece-4c32-a756-f3d3bcabf00e"}, {"label": "subtasks", "start_step": 1845, "end_step": 1987, "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 white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "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 grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "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 hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "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 hexagonal block onto the purple peg of the wooden base until it is supported by the peg."}, {"label": "subtasks", "start_step": 2130, "end_step": 2234, "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 towards another white hexagonal block on the table near the wooden base after the previous block falls off the peg."}, {"label": "subtasks", "start_step": 2235, "end_step": 2354, "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 table, adjusting fingers to establish a stable hold."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "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 grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2534, "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 grasped white hexagonal block slowly towards the wooden block base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "goal", "start_step": 2536, "end_step": 2972, "id": "f4d02a1f-0ca8-4e44-b4e8-e08e199e57d8"}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00040", "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 wooden peg rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "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 aligns the white cylindrical block with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2670, "end_step": 2871, "id": "reasoning-language-00042", "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 peg to secure it."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "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 opens fingers to release the white cylindrical block."}, {"label": "subtasks", "start_step": 2895, "end_step": 2969, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upwards away from the wooden peg rack."}, {"label": "subtasks", "start_step": 2970, "end_step": 3029, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table next to the wooden base."}, {"label": "goal", "start_step": 2973, "end_step": 3095, "id": "3c8ac7b6-8df7-46a7-bed5-12a8bc17a822"}, {"label": "subtasks", "start_step": 3030, "end_step": 3111, "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 adjusts fingers to close around the white hexagonal block on the table to establish stable grip."}, {"label": "goal", "start_step": 3096, "end_step": 3221, "id": "76ab72d6-fe2c-4046-b926-8ab1b7e8d440"}, {"label": "subtasks", "start_step": 3112, "end_step": 3134, "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 hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "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 rod on the wooden base."}, {"label": "subtasks", "start_step": 3165, "end_step": 3209, "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 hexagonal block with the purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "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 hexagonal block and moves slightly away from the rod."}, {"label": "goal", "start_step": 3222, "end_step": 3332, "id": "beaa6cb3-1f82-4951-847b-c130ba4b1451"}, {"label": "subtasks", "start_step": 3225, "end_step": 3231, "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 places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3232, "end_step": 3277, "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 toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 3278, "end_step": 3351, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 3333, "end_step": 3488, "id": "3273cc01-d136-4356-b5cc-f833bfdb5667"}, {"label": "subtasks", "start_step": 3352, "end_step": 3389, "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 cubic block from the table and transports it above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 3390, "end_step": 3479, "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 cubic block with the empty slot on the wooden rack and inserts it into the slot."}, {"label": "subtasks", "start_step": 3480, "end_step": 3494, "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 cubic block that is fixed on the wooden block rack."}, {"label": "goal", "start_step": 3489, "end_step": 3683, "id": "db17691e-741f-437f-bd4b-66901820108e"}, {"label": "subtasks", "start_step": 3495, "end_step": 3539, "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 placed on the black table surface."}, {"label": "subtasks", "start_step": 3540, "end_step": 3607, "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 adjusts fingers to establish a stable grip on the green cube on the black table."}, {"label": "subtasks", "start_step": 3608, "end_step": 3674, "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 green cube on the black table without moving."}, {"label": "subtasks", "start_step": 3675, "end_step": 3711, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 3684, "end_step": 3827, "id": "056628c6-5dec-4816-a9ed-28829bac85b7"}, {"label": "subtasks", "start_step": 3712, "end_step": 3741, "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 towards the white bottle rack."}, {"label": "subtasks", "start_step": 3742, "end_step": 3824, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the white bottle with purple tip on the rack."}, {"label": "subtasks", "start_step": 3825, "end_step": 3839, "id": "reasoning-language-00063", "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 fitted onto the bottle."}, {"label": "home", "start_step": 3858, "end_step": 3888, "id": "rzAVC-JbiBCXukA54LObp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 179, "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 small white part in front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 180, "end_step": 277, "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 small white part in front of the wooden rack."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "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 cube off the workspace and moves it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "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 cube with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "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 cube downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the 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": 450, "end_step": 509, "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 hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "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 object from the table surface and transports it to above the purple peg on the base."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "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 object onto the purple peg on the base, adjusting to make it fit properly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "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 purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "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: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 877, "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "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 off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "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's hole with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00016", "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 its position."}, {"label": "subtasks", "start_step": 1058, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "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 small white cylinder in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "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 form a stable grasp on the small white cylinder in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1200, "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: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1311, "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 hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to secure it in place on the peg stack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "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 rod of the wooden base."}, {"label": "subtasks", "start_step": 1410, "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: reach: Right hand moves downward towards the green square block on the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1581, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green square block on the table."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "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 green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "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 moves the green block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "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 onto the peg."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1770, "end_step": 1844, "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 block base towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1987, "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 white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "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 grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "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 hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "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 hexagonal block onto the purple peg of the wooden base until it is supported by the peg."}, {"label": "subtasks", "start_step": 2130, "end_step": 2234, "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 towards another white hexagonal block on the table near the wooden base after the previous block falls off the peg."}, {"label": "subtasks", "start_step": 2235, "end_step": 2354, "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 table, adjusting fingers to establish a stable hold."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "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 grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2534, "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 grasped white hexagonal block slowly towards the wooden block base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00040", "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 wooden peg rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "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 aligns the white cylindrical block with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2670, "end_step": 2871, "id": "reasoning-language-00042", "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 peg to secure it."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "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 opens fingers to release the white cylindrical block."}, {"label": "subtasks", "start_step": 2895, "end_step": 2969, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upwards away from the wooden peg rack."}, {"label": "subtasks", "start_step": 2970, "end_step": 3029, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table next to the wooden base."}, {"label": "subtasks", "start_step": 3030, "end_step": 3111, "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 adjusts fingers to close around the white hexagonal block on the table to establish stable grip."}, {"label": "subtasks", "start_step": 3112, "end_step": 3134, "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 hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "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 rod on the wooden base."}, {"label": "subtasks", "start_step": 3165, "end_step": 3209, "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 hexagonal block with the purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "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 hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 3225, "end_step": 3231, "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 places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3232, "end_step": 3277, "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 toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 3278, "end_step": 3351, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3352, "end_step": 3389, "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 cubic block from the table and transports it above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 3390, "end_step": 3479, "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 cubic block with the empty slot on the wooden rack and inserts it into the slot."}, {"label": "subtasks", "start_step": 3480, "end_step": 3494, "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 cubic block that is fixed on the wooden block rack."}, {"label": "subtasks", "start_step": 3495, "end_step": 3539, "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 placed on the black table surface."}, {"label": "subtasks", "start_step": 3540, "end_step": 3607, "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 adjusts fingers to establish a stable grip on the green cube on the black table."}, {"label": "subtasks", "start_step": 3608, "end_step": 3674, "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 green cube on the black table without moving."}, {"label": "subtasks", "start_step": 3675, "end_step": 3711, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 3712, "end_step": 3741, "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 towards the white bottle rack."}, {"label": "subtasks", "start_step": 3742, "end_step": 3824, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the white bottle with purple tip on the rack."}, {"label": "subtasks", "start_step": 3825, "end_step": 3839, "id": "reasoning-language-00063", "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 fitted onto the bottle."}], "episode_index": 22}
+{"source_uid": "4250c09c368d63f6", "num_frames": 3082, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand, empty, moves leftward and downward toward the small white part next to the green hexagonal block near the wooden assembly."}, {"label": "goal", "start_step": 0, "end_step": 210, "id": "523ee3fa-46bb-4a16-9e32-0ef0eb767759"}, {"label": "valid", "start_step": 0, "end_step": 3051, "id": "NyvmaM9nmxGCz4sllI_kr"}, {"label": "subtasks", "start_step": 98, "end_step": 231, "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 fingers around the small white part on the table, making continuous slight adjustments to fingers and wrist to stabilize the grip."}, {"label": "goal", "start_step": 211, "end_step": 366, "id": "f752f926-c788-4692-856d-645d20adaa0a"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "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: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "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: mate: Right hand lowers the green hexagonal block to align and fit it onto the leftmost purple peg, establishing the mated assembly relationship between the block and the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "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: hold: Right hand holds the green hexagonal block mated on the purple peg without any observable movement of the hand, fingers or the block."}, {"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 any visible movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the table surface behind the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 367, "end_step": 537, "id": "e19b47b2-7e28-4a73-aa58-aac1b859fbfe"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "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: reach: Right hand moves toward the front-left white hexagonal block on the table, approaching the target without establishing a grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 554, "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: grasp: Right hand contacts the front-left white hexagonal block, fingers close and make continuous small adjustments to form a stable grasp on the block."}, {"label": "goal", "start_step": 538, "end_step": 735, "id": "c9ec018f-6f00-47ab-9fe7-9ea23d60aacb"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "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: lift: Right hand moves upward while gripping the white hexagonal nut, lifting the nut completely off the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "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: transport: Right hand moves upward while holding the lifted white hexagonal nut, transporting the nut to the area directly above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 585, "end_step": 734, "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: mate: Right hand aligns the white hexagonal nut with the purple post, making small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "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: reach: Right hand moves downward from the upper wooden block assembly toward the left white hexagonal block on the dark gray table surface, with fingers open and extended, not yet touching the block."}, {"label": "goal", "start_step": 736, "end_step": 969, "id": "68a3947a-f5d9-4db7-895a-bd112fdeb146"}, {"label": "subtasks", "start_step": 780, "end_step": 921, "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: grasp: Right hand makes contact with the left white hexagonal block on the table, fingers close around the block and make small positional adjustments of the fingers and wrist to establish a firm grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "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: hold: Right hand holds the left white hexagonal block steadily on the dark gray table surface, with no observable movement of the hand, fingers, wrist or the block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "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: grasp: Right hand grasps the white hexagonal nut placed on the black table surface, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 970, "end_step": 1128, "id": "f17830a4-1c6d-43fd-a1fc-9703047e77a1"}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "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: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "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: mate: Right hand aligns the gripped white hexagonal nut with the target purple rod, moving the nut downward to fit it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "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: lift: Right hand grips the white hexagonal block on the wooden base and moves upward to lift it completely free of the base's supporting pegs."}, {"label": "goal", "start_step": 1129, "end_step": 1242, "id": "62982b40-6c35-4da5-9591-6d969b8412ca"}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "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: transport_place: Right hand carries the lifted white hexagonal block downward toward the dark table surface, adjusting its position until the block rests stably on the table."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "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: hold: Right hand holds the white hexagonal block on the dark table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "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: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the table adjacent to the wooden peg board."}, {"label": "goal", "start_step": 1243, "end_step": 1476, "id": "894b6807-4c28-4661-9319-081c09d3cfbe"}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "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: lift: Right hand lifts the grasped white hexagonal block vertically upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "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: transport: Right hand carries the lifted white hexagonal block through the air to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "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: mate: Right hand adjusts the white hexagonal block to align its central hole with the target purple peg, lowering the block to seat onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1469, "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: hold: Right hand holds the seated white hexagonal block on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "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: place_release: Right hand lowers the held white hexagonal block onto the purple wooden peg on the wooden base, releasing the block as it settles stably on the stacked block below."}, {"label": "goal", "start_step": 1477, "end_step": 1587, "id": "96fdd220-519e-4301-b8df-e164879bbe75"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "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: reach: Right hand moves empty downward from the wooden base toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "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: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing digits to form a grip on the block."}, {"label": "goal", "start_step": 1588, "end_step": 1725, "id": "74e3b3ea-5a9f-4380-8ee9-92095e1acb1b"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "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: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the wooden peg base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "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 green hexagonal block with the target vertical peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "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 hexagonal block fitted on the wooden base peg without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "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: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the dark table surface, staying empty with no contact to the nut."}, {"label": "goal", "start_step": 1726, "end_step": 1836, "id": "3f125b97-f51e-4a18-b3e0-1f8230faaf1c"}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "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: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to form a stable grasp."}, {"label": "goal", "start_step": 1837, "end_step": 2004, "id": "fbc0ea25-76c6-4ae1-94f6-802ab49fe015"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "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: lift_transport: Right hand lifts the grasped white hexagonal block off the dark work surface and moves it upward to the position above the wooden peg assembly."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "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: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden assembly and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "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: hold: Right hand holds the white hexagonal block seated on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "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: place_release: Right hand holds the white hexagonal block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the supported block."}, {"label": "goal", "start_step": 2005, "end_step": 2109, "id": "7bbe0da9-3be3-4355-a607-e0f0d60bf954"}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "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: reach: Right hand moves empty toward the white hexagonal block resting on the right section of the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "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: 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": 2110, "end_step": 2265, "id": "ccc01fa0-17a0-41fd-8012-c5808fd60551"}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "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: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the nearby wooden block rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "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: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to seat it securely on the rod, and opens its fingers to release the fully assembled block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2317, "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: reach: Right hand moves downward while empty, approaching the white hexagonal object placed on the dark table surface."}, {"label": "goal", "start_step": 2266, "end_step": 2358, "id": "ebb7321e-402f-431e-bb4c-dcdfdb02a1cd"}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "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: grasp: Right hand closes fingers around the white hexagonal object on the table, making slight grip adjustments to hold the object."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "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: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 2359, "end_step": 2742, "id": "1644a6a9-d3c5-4f37-b7e5-d12a67948415"}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "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: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and backward to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2408, "end_step": 2451, "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: mate: Right hand aligns the white hexagonal block with the purple rod on the stacked block assembly and lowers it to fit into the assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2729, "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 assembled white hexagonal block on the stacked block assembly without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "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: release: Right hand releases the light purple cylindrical object seated in the wooden peg base, fingers open and move away until fully separated from the cylinder."}, {"label": "goal", "start_step": 2743, "end_step": 2867, "id": "c78cb09c-9f33-4998-b985-510fe834666c"}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "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: reach: Right hand moves downwards toward the green hollow block on the dark table surface, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "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: grasp: Right hand fingers adjust around the green hollow block, closing and repositioning slightly to form a stable grip, with the block remaining stationary on the table surface."}, {"label": "goal", "start_step": 2868, "end_step": 3020, "id": "86727614-f396-483d-82eb-cc2016f8594a"}, {"label": "subtasks", "start_step": 2888, "end_step": 2931, "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: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to a position directly above the purple cylindrical peg on the wooden block base."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "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: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "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: hold: Right hand holds the green hexagonal block fitted on the purple cylindrical peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3015, "end_step": 3029, "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: release: Right hand opens its fingers to release the green hexagonal block, separating the hand from the block surface."}, {"label": "home", "start_step": 3052, "end_step": 3081, "id": "dbK2VRgt2uziLlW_NarTR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand, empty, moves leftward and downward toward the small white part next to the green hexagonal block near the wooden assembly."}, {"label": "subtasks", "start_step": 98, "end_step": 231, "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 fingers around the small white part on the table, making continuous slight adjustments to fingers and wrist to stabilize the grip."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "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: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "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: mate: Right hand lowers the green hexagonal block to align and fit it onto the leftmost purple peg, establishing the mated assembly relationship between the block and the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "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: hold: Right hand holds the green hexagonal block mated on the purple peg without any observable movement of the hand, fingers or the block."}, {"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 any visible movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the table surface behind the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "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: reach: Right hand moves toward the front-left white hexagonal block on the table, approaching the target without establishing a grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 554, "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: grasp: Right hand contacts the front-left white hexagonal block, fingers close and make continuous small adjustments to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "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: lift: Right hand moves upward while gripping the white hexagonal nut, lifting the nut completely off the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "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: transport: Right hand moves upward while holding the lifted white hexagonal nut, transporting the nut to the area directly above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 585, "end_step": 734, "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: mate: Right hand aligns the white hexagonal nut with the purple post, making small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "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: reach: Right hand moves downward from the upper wooden block assembly toward the left white hexagonal block on the dark gray table surface, with fingers open and extended, not yet touching the block."}, {"label": "subtasks", "start_step": 780, "end_step": 921, "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: grasp: Right hand makes contact with the left white hexagonal block on the table, fingers close around the block and make small positional adjustments of the fingers and wrist to establish a firm grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "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: hold: Right hand holds the left white hexagonal block steadily on the dark gray table surface, with no observable movement of the hand, fingers, wrist or the block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "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: grasp: Right hand grasps the white hexagonal nut placed on the black table surface, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "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: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "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: mate: Right hand aligns the gripped white hexagonal nut with the target purple rod, moving the nut downward to fit it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "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: lift: Right hand grips the white hexagonal block on the wooden base and moves upward to lift it completely free of the base's supporting pegs."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "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: transport_place: Right hand carries the lifted white hexagonal block downward toward the dark table surface, adjusting its position until the block rests stably on the table."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "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: hold: Right hand holds the white hexagonal block on the dark table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "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: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the table adjacent to the wooden peg board."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "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: lift: Right hand lifts the grasped white hexagonal block vertically upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "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: transport: Right hand carries the lifted white hexagonal block through the air to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "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: mate: Right hand adjusts the white hexagonal block to align its central hole with the target purple peg, lowering the block to seat onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1469, "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: hold: Right hand holds the seated white hexagonal block on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "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: place_release: Right hand lowers the held white hexagonal block onto the purple wooden peg on the wooden base, releasing the block as it settles stably on the stacked block below."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "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: reach: Right hand moves empty downward from the wooden base toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "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: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing digits to form a grip on the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "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: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the wooden peg base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "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 green hexagonal block with the target vertical peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "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 hexagonal block fitted on the wooden base peg without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "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: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the dark table surface, staying empty with no contact to the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "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: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to form a stable grasp."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "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: lift_transport: Right hand lifts the grasped white hexagonal block off the dark work surface and moves it upward to the position above the wooden peg assembly."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "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: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden assembly and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "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: hold: Right hand holds the white hexagonal block seated on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "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: place_release: Right hand holds the white hexagonal block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the supported block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "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: reach: Right hand moves empty toward the white hexagonal block resting on the right section of the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "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: 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": 2122, "end_step": 2167, "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: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the nearby wooden block rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "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: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to seat it securely on the rod, and opens its fingers to release the fully assembled block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2317, "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: reach: Right hand moves downward while empty, approaching the white hexagonal object placed on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "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: grasp: Right hand closes fingers around the white hexagonal object on the table, making slight grip adjustments to hold the object."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "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: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "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: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and backward to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2408, "end_step": 2451, "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: mate: Right hand aligns the white hexagonal block with the purple rod on the stacked block assembly and lowers it to fit into the assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2729, "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 assembled white hexagonal block on the stacked block assembly without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "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: release: Right hand releases the light purple cylindrical object seated in the wooden peg base, fingers open and move away until fully separated from the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "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: reach: Right hand moves downwards toward the green hollow block on the dark table surface, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "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: grasp: Right hand fingers adjust around the green hollow block, closing and repositioning slightly to form a stable grip, with the block remaining stationary on the table surface."}, {"label": "subtasks", "start_step": 2888, "end_step": 2931, "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: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to a position directly above the purple cylindrical peg on the wooden block base."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00052", 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\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v3.0/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_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_15_09_59_train/lerobot_v3.0/meta/modality.json
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diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v3.0/meta/stats.json b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dce973b6c07f3b2ca9a2c90f0f2604cfba1b27a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v3.0/meta/stats.json
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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_v2.1/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/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_v2.1/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 fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 267, "end_step": 446, "id": "86ddb0ec-e16c-41b6-905f-cc980bd48bcb"}, {"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": "goal", "start_step": 447, "end_step": 632, "id": "4c4c2eab-a958-469f-b044-3b6586039b97"}, {"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": "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_v2.1/meta/episodes.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a3dd5ca952db82f702f11982a79ed9fcd3d4541
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,25 @@
+{"episode_index": 0, "tasks": ["Task: TicTacToe"], "length": 3599}
+{"episode_index": 1, "tasks": ["Task: TicTacToe"], "length": 3518}
+{"episode_index": 2, "tasks": ["Task: TicTacToe"], "length": 3288}
+{"episode_index": 3, "tasks": ["Task: TicTacToe"], "length": 3259}
+{"episode_index": 4, "tasks": ["Task: TicTacToe"], "length": 2592}
+{"episode_index": 5, "tasks": ["Task: TicTacToe"], "length": 2667}
+{"episode_index": 6, "tasks": ["Task: TicTacToe"], "length": 2991}
+{"episode_index": 7, "tasks": ["Task: TicTacToe"], "length": 3403}
+{"episode_index": 8, "tasks": ["Task: TicTacToe"], "length": 3261}
+{"episode_index": 9, "tasks": ["Task: TicTacToe"], "length": 4078}
+{"episode_index": 10, "tasks": ["Task: TicTacToe"], "length": 2908}
+{"episode_index": 11, "tasks": ["Task: TicTacToe"], "length": 2898}
+{"episode_index": 12, "tasks": ["Task: TicTacToe"], "length": 3920}
+{"episode_index": 13, "tasks": ["Task: TicTacToe"], "length": 2722}
+{"episode_index": 14, "tasks": ["Task: TicTacToe"], "length": 2889}
+{"episode_index": 15, "tasks": ["Task: TicTacToe"], "length": 2762}
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+{"episode_index": 17, "tasks": ["Task: TicTacToe"], "length": 4337}
+{"episode_index": 18, "tasks": ["Task: TicTacToe"], "length": 4357}
+{"episode_index": 19, "tasks": ["Task: TicTacToe"], "length": 3143}
+{"episode_index": 20, "tasks": ["Task: TicTacToe"], "length": 3835}
+{"episode_index": 21, "tasks": ["Task: TicTacToe"], "length": 3399}
+{"episode_index": 22, "tasks": ["Task: TicTacToe"], "length": 3120}
+{"episode_index": 23, "tasks": ["Task: TicTacToe"], "length": 2986}
+{"episode_index": 24, "tasks": ["Task: TicTacToe"], "length": 2856}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/episodes_stats.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..758494c80948d20638352aa7da386b40e53e6bd6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,25 @@
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diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..83e9027f0a42a1e2e56c10aa5d715c0aaa06bd0f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                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_v2.1/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_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_16_43_55_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_16_43_55_train/lerobot_v2.1/meta/subtasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a9bcb9b6f664e8e824a03d278c79770eaa50339a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,1487 @@
+{"subtask_index": 0, "subtask": "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."}
+{"subtask_index": 1, "subtask": "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."}
+{"subtask_index": 2, "subtask": "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."}
+{"subtask_index": 3, "subtask": "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."}
+{"subtask_index": 4, "subtask": "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."}
+{"subtask_index": 5, "subtask": "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."}
+{"subtask_index": 6, "subtask": "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."}
+{"subtask_index": 7, "subtask": "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."}
+{"subtask_index": 8, "subtask": "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."}
+{"subtask_index": 9, "subtask": "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."}
+{"subtask_index": 10, "subtask": "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."}
+{"subtask_index": 11, "subtask": "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."}
+{"subtask_index": 12, "subtask": "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."}
+{"subtask_index": 13, "subtask": "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."}
+{"subtask_index": 14, "subtask": "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."}
+{"subtask_index": 15, "subtask": "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."}
+{"subtask_index": 16, "subtask": "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."}
+{"subtask_index": 17, "subtask": "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."}
+{"subtask_index": 18, "subtask": "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."}
+{"subtask_index": 19, "subtask": "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."}
+{"subtask_index": 20, "subtask": "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."}
+{"subtask_index": 21, "subtask": "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."}
+{"subtask_index": 22, "subtask": "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."}
+{"subtask_index": 23, "subtask": "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."}
+{"subtask_index": 24, "subtask": "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."}
+{"subtask_index": 25, "subtask": "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."}
+{"subtask_index": 26, "subtask": "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."}
+{"subtask_index": 27, "subtask": "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."}
+{"subtask_index": 28, "subtask": "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."}
+{"subtask_index": 29, "subtask": "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."}
+{"subtask_index": 30, "subtask": "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."}
+{"subtask_index": 31, "subtask": "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."}
+{"subtask_index": 32, "subtask": "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."}
+{"subtask_index": 33, "subtask": "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."}
+{"subtask_index": 34, "subtask": "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."}
+{"subtask_index": 35, "subtask": "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."}
+{"subtask_index": 36, "subtask": "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."}
+{"subtask_index": 37, "subtask": "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."}
+{"subtask_index": 38, "subtask": "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."}
+{"subtask_index": 39, "subtask": "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."}
+{"subtask_index": 40, "subtask": "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."}
+{"subtask_index": 41, "subtask": "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."}
+{"subtask_index": 42, "subtask": "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."}
+{"subtask_index": 43, "subtask": "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."}
+{"subtask_index": 44, "subtask": "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."}
+{"subtask_index": 45, "subtask": "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."}
+{"subtask_index": 46, "subtask": "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."}
+{"subtask_index": 47, "subtask": "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."}
+{"subtask_index": 48, "subtask": "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."}
+{"subtask_index": 49, "subtask": "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."}
+{"subtask_index": 50, "subtask": "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."}
+{"subtask_index": 51, "subtask": "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."}
+{"subtask_index": 52, "subtask": "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."}
+{"subtask_index": 53, "subtask": "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."}
+{"subtask_index": 54, "subtask": "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."}
+{"subtask_index": 55, "subtask": "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."}
+{"subtask_index": 56, "subtask": "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."}
+{"subtask_index": 57, "subtask": "Task: TicTacToe"}
+{"subtask_index": 58, "subtask": "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."}
+{"subtask_index": 59, "subtask": "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."}
+{"subtask_index": 60, "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 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."}
+{"subtask_index": 61, "subtask": "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."}
+{"subtask_index": 62, "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 green hexagonal block upward to position it directly above the leftmost purple peg on the wooden pegboard."}
+{"subtask_index": 63, "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 hexagonal block with the leftmost purple peg and lowers it to fit the block onto the peg."}
+{"subtask_index": 64, "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 fitted on the leftmost purple peg without visible movement of the hand or block."}
+{"subtask_index": 65, "subtask": "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."}
+{"subtask_index": 66, "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 from the wooden base toward the white hexagonal block resting on the black table surface."}
+{"subtask_index": 67, "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 block, making small grip adjustments to secure the block."}
+{"subtask_index": 68, "subtask": "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."}
+{"subtask_index": 69, "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 securely grasp the white hexagonal block resting on the black table surface."}
+{"subtask_index": 70, "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 vertically upward to fully separate it from the table surface."}
+{"subtask_index": 71, "subtask": "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."}
+{"subtask_index": 72, "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 and lowers it vertically to fit the block onto the peg until it rests on the green block below."}
+{"subtask_index": 73, "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 fitted on the purple peg without any observable movement."}
+{"subtask_index": 74, "subtask": "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."}
+{"subtask_index": 75, "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 peg board area toward the white hexagonal nut resting on the black table surface, making no contact with other objects during movement."}
+{"subtask_index": 76, "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 nearby white hexagonal nut on the table surface, making small finger adjustments to establish a grip."}
+{"subtask_index": 77, "subtask": "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."}
+{"subtask_index": 78, "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 secure a stable grip on the white hexagonal block placed on the black table surface."}
+{"subtask_index": 79, "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 block completely off the black table surface and moves it upward to position it above the target purple rod on the wooden peg assembly."}
+{"subtask_index": 80, "subtask": "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."}
+{"subtask_index": 81, "subtask": "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."}
+{"subtask_index": 82, "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 close around and form a stable grasp on a white hexagonal object mounted on the wooden assembly base."}
+{"subtask_index": 83, "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 object off the wooden assembly base and moves it downward toward the black table surface."}
+{"subtask_index": 84, "subtask": "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."}
+{"subtask_index": 85, "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 object steadily against the black table surface with no observable movement of the hand or the object."}
+{"subtask_index": 86, "subtask": "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."}
+{"subtask_index": 87, "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 nut completely off the table surface and moves it upward to the position directly above the target purple peg on the wooden base."}
+{"subtask_index": 88, "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 nut with the purple peg, makes small positional adjustments, and lowers the nut to fit it onto the peg."}
+{"subtask_index": 89, "subtask": "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."}
+{"subtask_index": 90, "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 with empty fingers to approach the green hexagonal block resting on the black table surface."}
+{"subtask_index": 91, "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 black table surface, making small adjustments to form a stable grip."}
+{"subtask_index": 92, "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 completely off the dark table surface, then transports the block upward and toward the purple rod mounted on the wooden assembly base."}
+{"subtask_index": 93, "subtask": "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."}
+{"subtask_index": 94, "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 wooden block assembly area toward the white hexagonal block on the dark table surface with an open hand."}
+{"subtask_index": 95, "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 white hexagonal block on the table to adjust and form a stable grasp."}
+{"subtask_index": 96, "subtask": "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."}
+{"subtask_index": 97, "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 firmly grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 98, "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, then moves it upward and forward to the position above the purple rod on the wooden assembly base."}
+{"subtask_index": 99, "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 on the assembly base, makes slight rotational and positional adjustments, and lowers the block to fit onto the rod."}
+{"subtask_index": 100, "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 fitted on the purple rod without obvious movement."}
+{"subtask_index": 101, "subtask": "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."}
+{"subtask_index": 102, "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 and rightwards toward the white hexagonal nut placed on the black table surface near the wooden base, approaching the target without contact."}
+{"subtask_index": 103, "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 on the table, fingers closing around the nut with small continuous adjustments to establish a stable grip."}
+{"subtask_index": 104, "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 fully off the table surface, moving it upward and horizontally to position directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 105, "subtask": "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."}
+{"subtask_index": 106, "subtask": "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."}
+{"subtask_index": 107, "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 toward the white hexagonal block resting on the dark table surface."}
+{"subtask_index": 108, "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 white hexagonal block on the table to establish a stable grip."}
+{"subtask_index": 109, "subtask": "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."}
+{"subtask_index": 110, "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 small white cylinder resting on the dark table surface."}
+{"subtask_index": 111, "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 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."}
+{"subtask_index": 112, "subtask": "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."}
+{"subtask_index": 113, "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 and rightward to approach the green cube on the dark table surface."}
+{"subtask_index": 114, "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 and closes fingers around the green cube to form a grasp, with the cube remaining on the table surface."}
+{"subtask_index": 115, "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 block off the table surface and moves it upward to the position directly above the target white cylindrical post on the wooden rack."}
+{"subtask_index": 116, "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 target white cylindrical post and lowers the block to fit it onto the post, establishing the assembly relationship."}
+{"subtask_index": 117, "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 cylindrical post without any observable movement of the hand, fingers or the block."}
+{"subtask_index": 118, "subtask": "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."}
+{"subtask_index": 119, "subtask": "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."}
+{"subtask_index": 120, "subtask": "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."}
+{"subtask_index": 121, "subtask": "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."}
+{"subtask_index": 122, "subtask": "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."}
+{"subtask_index": 123, "subtask": "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."}
+{"subtask_index": 124, "subtask": "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."}
+{"subtask_index": 125, "subtask": "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."}
+{"subtask_index": 126, "subtask": "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."}
+{"subtask_index": 127, "subtask": "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."}
+{"subtask_index": 128, "subtask": "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."}
+{"subtask_index": 129, "subtask": "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."}
+{"subtask_index": 130, "subtask": "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."}
+{"subtask_index": 131, "subtask": "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."}
+{"subtask_index": 132, "subtask": "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."}
+{"subtask_index": 133, "subtask": "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."}
+{"subtask_index": 134, "subtask": "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."}
+{"subtask_index": 135, "subtask": "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."}
+{"subtask_index": 136, "subtask": "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."}
+{"subtask_index": 137, "subtask": "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."}
+{"subtask_index": 138, "subtask": "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."}
+{"subtask_index": 139, "subtask": "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."}
+{"subtask_index": 140, "subtask": "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."}
+{"subtask_index": 141, "subtask": "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."}
+{"subtask_index": 142, "subtask": "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."}
+{"subtask_index": 143, "subtask": "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."}
+{"subtask_index": 144, "subtask": "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."}
+{"subtask_index": 145, "subtask": "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."}
+{"subtask_index": 146, "subtask": "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."}
+{"subtask_index": 147, "subtask": "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."}
+{"subtask_index": 148, "subtask": "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."}
+{"subtask_index": 149, "subtask": "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."}
+{"subtask_index": 150, "subtask": "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."}
+{"subtask_index": 151, "subtask": "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."}
+{"subtask_index": 152, "subtask": "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."}
+{"subtask_index": 153, "subtask": "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."}
+{"subtask_index": 154, "subtask": "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."}
+{"subtask_index": 155, "subtask": "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."}
+{"subtask_index": 156, "subtask": "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."}
+{"subtask_index": 157, "subtask": "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."}
+{"subtask_index": 158, "subtask": "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."}
+{"subtask_index": 159, "subtask": "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."}
+{"subtask_index": 160, "subtask": "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."}
+{"subtask_index": 161, "subtask": "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."}
+{"subtask_index": 162, "subtask": "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."}
+{"subtask_index": 163, "subtask": "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."}
+{"subtask_index": 164, "subtask": "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."}
+{"subtask_index": 165, "subtask": "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."}
+{"subtask_index": 166, "subtask": "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."}
+{"subtask_index": 167, "subtask": "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."}
+{"subtask_index": 168, "subtask": "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."}
+{"subtask_index": 169, "subtask": "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."}
+{"subtask_index": 170, "subtask": "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."}
+{"subtask_index": 171, "subtask": "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."}
+{"subtask_index": 172, "subtask": "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."}
+{"subtask_index": 173, "subtask": "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."}
+{"subtask_index": 174, "subtask": "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."}
+{"subtask_index": 175, "subtask": "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."}
+{"subtask_index": 176, "subtask": "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."}
+{"subtask_index": 177, "subtask": "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."}
+{"subtask_index": 178, "subtask": "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."}
+{"subtask_index": 179, "subtask": "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."}
+{"subtask_index": 180, "subtask": "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."}
+{"subtask_index": 181, "subtask": "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."}
+{"subtask_index": 182, "subtask": "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."}
+{"subtask_index": 183, "subtask": "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."}
+{"subtask_index": 184, "subtask": "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."}
+{"subtask_index": 185, "subtask": "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."}
+{"subtask_index": 186, "subtask": "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."}
+{"subtask_index": 187, "subtask": "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."}
+{"subtask_index": 188, "subtask": "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."}
+{"subtask_index": 189, "subtask": "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."}
+{"subtask_index": 190, "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 hollow block located in front of the wooden base on the table."}
+{"subtask_index": 191, "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 hollow block, with slight adjustments to form a stable grip."}
+{"subtask_index": 192, "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 above the leftmost purple rod on the wooden base."}
+{"subtask_index": 193, "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 rod and inserts it onto the rod."}
+{"subtask_index": 194, "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 rod without moving."}
+{"subtask_index": 195, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple rod to fix it in position."}
+{"subtask_index": 196, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers opening to separate from the block."}
+{"subtask_index": 197, "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 wooden base towards the white hexagonal object on the black table surface."}
+{"subtask_index": 198, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the white hexagonal object on the table."}
+{"subtask_index": 199, "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 top of the purple peg on the wooden base."}
+{"subtask_index": 200, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, inserting it down along the peg until it is placed stably."}
+{"subtask_index": 201, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening to separate from the block."}
+{"subtask_index": 202, "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 purple peg and the wooden base."}
+{"subtask_index": 203, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the wooden base towards the white hexagonal block on the black table, without touching the block."}
+{"subtask_index": 204, "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 black table, adjusting the grip to stabilize the block."}
+{"subtask_index": 205, "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 towards the purple peg on the wooden base."}
+{"subtask_index": 206, "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 purple peg and inserts it down onto the peg."}
+{"subtask_index": 207, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}
+{"subtask_index": 208, "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 in front of the wooden base."}
+{"subtask_index": 209, "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 in front of the wooden base, adjusting fingers to form a stable grip."}
+{"subtask_index": 210, "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 upward away from the black table surface."}
+{"subtask_index": 211, "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 post on the green base and moves it downward for assembly."}
+{"subtask_index": 212, "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 which is already fitted on the purple vertical post."}
+{"subtask_index": 213, "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 area toward the green cubic block on the black table."}
+{"subtask_index": 214, "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 black table to establish a stable grasp."}
+{"subtask_index": 215, "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 black table without any movement."}
+{"subtask_index": 216, "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 black table, fingers adjust to form stable grip."}
+{"subtask_index": 217, "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 surface and transports it to the upper position of the target peg on the wooden rack."}
+{"subtask_index": 218, "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 target peg and inserts it onto the peg."}
+{"subtask_index": 219, "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 down along the peg to secure it in place."}
+{"subtask_index": 220, "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, fingers open to detach from the block."}
+{"subtask_index": 221, "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": 222, "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 surface."}
+{"subtask_index": 223, "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 completely off the black tabletop."}
+{"subtask_index": 224, "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 above the target peg on the wooden rack."}
+{"subtask_index": 225, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the target peg and inserts it onto the peg."}
+{"subtask_index": 226, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical object and moves slightly upward."}
+{"subtask_index": 227, "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 on the top of the stacked block set on the wooden base."}
+{"subtask_index": 228, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the table next to the wooden base."}
+{"subtask_index": 229, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}
+{"subtask_index": 230, "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": 231, "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 upwards to the position above the purple rod on the wooden rack."}
+{"subtask_index": 232, "subtask": "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."}
+{"subtask_index": 233, "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 rod until it is stably supported by the rod."}
+{"subtask_index": 234, "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 right area of the table."}
+{"subtask_index": 235, "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 table."}
+{"subtask_index": 236, "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 transports it towards the wooden rack."}
+{"subtask_index": 237, "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 rod on the wooden rack and inserts it onto the rod."}
+{"subtask_index": 238, "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 square block placed on the tabletop."}
+{"subtask_index": 239, "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 square block on the tabletop."}
+{"subtask_index": 240, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white tube with purple cap on the wooden rack."}
+{"subtask_index": 241, "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 tube with purple cap and fits the block onto the tube."}
+{"subtask_index": 242, "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 fitted on the tube."}
+{"subtask_index": 243, "subtask": "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."}
+{"subtask_index": 244, "subtask": "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."}
+{"subtask_index": 245, "subtask": "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."}
+{"subtask_index": 246, "subtask": "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."}
+{"subtask_index": 247, "subtask": "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."}
+{"subtask_index": 248, "subtask": "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."}
+{"subtask_index": 249, "subtask": "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."}
+{"subtask_index": 250, "subtask": "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."}
+{"subtask_index": 251, "subtask": "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."}
+{"subtask_index": 252, "subtask": "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."}
+{"subtask_index": 253, "subtask": "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."}
+{"subtask_index": 254, "subtask": "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."}
+{"subtask_index": 255, "subtask": "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."}
+{"subtask_index": 256, "subtask": "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."}
+{"subtask_index": 257, "subtask": "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."}
+{"subtask_index": 258, "subtask": "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."}
+{"subtask_index": 259, "subtask": "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."}
+{"subtask_index": 260, "subtask": "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."}
+{"subtask_index": 261, "subtask": "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."}
+{"subtask_index": 262, "subtask": "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."}
+{"subtask_index": 263, "subtask": "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."}
+{"subtask_index": 264, "subtask": "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."}
+{"subtask_index": 265, "subtask": "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."}
+{"subtask_index": 266, "subtask": "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."}
+{"subtask_index": 267, "subtask": "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."}
+{"subtask_index": 268, "subtask": "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."}
+{"subtask_index": 269, "subtask": "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."}
+{"subtask_index": 270, "subtask": "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."}
+{"subtask_index": 271, "subtask": "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."}
+{"subtask_index": 272, "subtask": "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."}
+{"subtask_index": 273, "subtask": "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."}
+{"subtask_index": 274, "subtask": "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."}
+{"subtask_index": 275, "subtask": "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."}
+{"subtask_index": 276, "subtask": "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."}
+{"subtask_index": 277, "subtask": "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."}
+{"subtask_index": 278, "subtask": "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."}
+{"subtask_index": 279, "subtask": "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."}
+{"subtask_index": 280, "subtask": "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."}
+{"subtask_index": 281, "subtask": "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."}
+{"subtask_index": 282, "subtask": "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."}
+{"subtask_index": 283, "subtask": "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."}
+{"subtask_index": 284, "subtask": "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."}
+{"subtask_index": 285, "subtask": "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."}
+{"subtask_index": 286, "subtask": "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."}
+{"subtask_index": 287, "subtask": "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."}
+{"subtask_index": 288, "subtask": "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."}
+{"subtask_index": 289, "subtask": "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."}
+{"subtask_index": 290, "subtask": "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."}
+{"subtask_index": 291, "subtask": "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."}
+{"subtask_index": 292, "subtask": "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."}
+{"subtask_index": 293, "subtask": "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."}
+{"subtask_index": 294, "subtask": "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."}
+{"subtask_index": 295, "subtask": "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."}
+{"subtask_index": 296, "subtask": "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."}
+{"subtask_index": 297, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table towards the green hexagonal perforated block on the left of the wooden peg base, with fingers slightly open."}
+{"subtask_index": 298, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal perforated block, then closes its fingers and adjusts the grip to form a stable grasp on the block."}
+{"subtask_index": 299, "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 perforated block on the black table surface without moving."}
+{"subtask_index": 300, "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 table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 301, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it to the position above the leftmost purple peg."}
+{"subtask_index": 302, "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 leftmost purple peg by lowering it along the peg to the bottom."}
+{"subtask_index": 303, "subtask": "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."}
+{"subtask_index": 304, "subtask": "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."}
+{"subtask_index": 305, "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 left side of the table surface."}
+{"subtask_index": 306, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 307, "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 top of the leftmost purple peg."}
+{"subtask_index": 308, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the hole and sliding the block down the peg until it reaches the green base."}
+{"subtask_index": 309, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg by opening its fingers, separating from the block."}
+{"subtask_index": 310, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg, moving away from the operation position."}
+{"subtask_index": 311, "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 perforated block onto the top of the front peg on the wooden base and releases its grip."}
+{"subtask_index": 312, "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 table surface."}
+{"subtask_index": 313, "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 black table surface, with fingers continuously adjusting to form a stable grip."}
+{"subtask_index": 314, "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 surface and transports it toward the leftmost purple peg on the wooden rack."}
+{"subtask_index": 315, "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 with the leftmost purple peg on the wooden rack, adjusting the object's position to fit onto the peg."}
+{"subtask_index": 316, "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 hollow hexagonal block onto the leftmost purple peg of the wooden base until the block is supported."}
+{"subtask_index": 317, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}
+{"subtask_index": 318, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and toward the white hollow hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 319, "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": 320, "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": 321, "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": 322, "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 surface and moves it to above the middle purple peg."}
+{"subtask_index": 323, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple peg downward until it reaches the peg base, then releases the block."}
+{"subtask_index": 324, "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 rightmost purple peg of the base."}
+{"subtask_index": 325, "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 black table surface."}
+{"subtask_index": 326, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 327, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and rightward to the top of the target peg on the wooden base."}
+{"subtask_index": 328, "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 target peg on the wooden base, moving the block downward along the peg until it fits into place."}
+{"subtask_index": 329, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal block on the purple vertical rod, with fingers opening to separate from the block."}
+{"subtask_index": 330, "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 hollow hexagonal block on the black table surface."}
+{"subtask_index": 331, "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 hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 332, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the black table surface without moving."}
+{"subtask_index": 333, "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 beside the green block, with fingers adjusting to form a stable grip while the block stays on the table."}
+{"subtask_index": 334, "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 rightward to the position above the purple peg on the wooden base."}
+{"subtask_index": 335, "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 downward along the peg to assemble the block onto the peg."}
+{"subtask_index": 336, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the right column of the wooden base, with fingers opening."}
+{"subtask_index": 337, "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 hexagonal block on the table to the right of the wooden base."}
+{"subtask_index": 338, "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 hexagonal block on the table to the right of the wooden base, with fingers closing around the block."}
+{"subtask_index": 339, "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 hollow block upward off the table surface."}
+{"subtask_index": 340, "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 upward and leftward to the area above the purple rod on the wooden base."}
+{"subtask_index": 341, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and lowers it to fit onto the rod."}
+{"subtask_index": 342, "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 purple rod without moving."}
+{"subtask_index": 343, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical rod, with fingers opening and separating from the block."}
+{"subtask_index": 344, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the table, with fingers slightly open."}
+{"subtask_index": 345, "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 and adjusting contact position."}
+{"subtask_index": 346, "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 perforated cylinder off the table and transports it toward the peg rack at the back of the table."}
+{"subtask_index": 347, "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 perforated cylinder onto the purple peg of the rack by lowering it into fitting position."}
+{"subtask_index": 348, "subtask": "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."}
+{"subtask_index": 349, "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 table surface."}
+{"subtask_index": 350, "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 table surface with fingers adjusting contact position."}
+{"subtask_index": 351, "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 moves it towards the purple peg on the wooden rack."}
+{"subtask_index": 352, "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 on the wooden rack and lowers it onto the peg to complete fitting."}
+{"subtask_index": 353, "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 green block fitted on the purple peg."}
+{"subtask_index": 354, "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 object on the leftmost rod of the wooden base."}
+{"subtask_index": 355, "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 leftmost rod of the wooden base, with fingers adjusting to form a stable grip."}
+{"subtask_index": 356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}
+{"subtask_index": 357, "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 leftmost purple vertical rod."}
+{"subtask_index": 358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple vertical rod by inserting it onto the rod."}
+{"subtask_index": 359, "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 rod to the bottom position."}
+{"subtask_index": 360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}
+{"subtask_index": 361, "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 rod assembly."}
+{"subtask_index": 362, "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 of the wooden base."}
+{"subtask_index": 363, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 364, "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, adjusting fingers to form a stable grip."}
+{"subtask_index": 365, "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": 366, "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 peg on the wooden rack."}
+{"subtask_index": 367, "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 onto the peg."}
+{"subtask_index": 368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}
+{"subtask_index": 369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}
+{"subtask_index": 370, "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 white hexagonal block on the purple peg."}
+{"subtask_index": 371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to contact and establish grasp on the white hexagonal object on the black table surface."}
+{"subtask_index": 372, "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": 373, "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, lowering it to fit onto the rod."}
+{"subtask_index": 374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is placed on the purple rod."}
+{"subtask_index": 375, "subtask": "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."}
+{"subtask_index": 376, "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 for assembly."}
+{"subtask_index": 377, "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, fingers adjust to form stable grip."}
+{"subtask_index": 378, "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 from the table surface."}
+{"subtask_index": 379, "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 upward to the area of the purple vertical rods."}
+{"subtask_index": 380, "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 vertical rod by inserting it down onto the rod."}
+{"subtask_index": 381, "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 without touching it."}
+{"subtask_index": 382, "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 block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 383, "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 purple rod on the wooden base."}
+{"subtask_index": 384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden base and inserts it onto the rod."}
+{"subtask_index": 385, "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 purple rod to secure it in place."}
+{"subtask_index": 386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the green block and the wooden base."}
+{"subtask_index": 387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table, not contacting the block yet."}
+{"subtask_index": 388, "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, adjusts fingers to form a stable grasp on the block."}
+{"subtask_index": 389, "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 from the black table surface."}
+{"subtask_index": 390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the held white cylindrical block towards the building block set."}
+{"subtask_index": 391, "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's rod of the building block set by aligning and pressing it down."}
+{"subtask_index": 392, "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 has been assembled on the rod."}
+{"subtask_index": 393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the white cylindrical block placed on the table to the right of the green wooden base."}
+{"subtask_index": 394, "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 grip."}
+{"subtask_index": 395, "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 away from the table surface."}
+{"subtask_index": 396, "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 right above the purple vertical rod on the wooden base."}
+{"subtask_index": 397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod by inserting the rod into the central hole of the block and lowering the block down along the rod."}
+{"subtask_index": 398, "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 which is fully placed on the purple vertical rod."}
+{"subtask_index": 399, "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 hexagonal block placed on the table."}
+{"subtask_index": 400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close to form a grasp."}
+{"subtask_index": 401, "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 moves it towards the wooden block rack."}
+{"subtask_index": 402, "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 vertical rod on the wooden block rack."}
+{"subtask_index": 403, "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 rightmost column of the wooden base."}
+{"subtask_index": 404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface."}
+{"subtask_index": 405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table surface."}
+{"subtask_index": 406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white post on the wooden rack."}
+{"subtask_index": 407, "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 on the wooden rack and places it onto the post."}
+{"subtask_index": 408, "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 the white post repeatedly to fit it tightly."}
+{"subtask_index": 409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the wooden rack."}
+{"subtask_index": 410, "subtask": "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."}
+{"subtask_index": 411, "subtask": "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."}
+{"subtask_index": 412, "subtask": "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."}
+{"subtask_index": 413, "subtask": "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."}
+{"subtask_index": 414, "subtask": "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."}
+{"subtask_index": 415, "subtask": "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."}
+{"subtask_index": 416, "subtask": "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."}
+{"subtask_index": 417, "subtask": "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."}
+{"subtask_index": 418, "subtask": "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."}
+{"subtask_index": 419, "subtask": "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."}
+{"subtask_index": 420, "subtask": "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."}
+{"subtask_index": 421, "subtask": "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."}
+{"subtask_index": 422, "subtask": "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."}
+{"subtask_index": 423, "subtask": "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."}
+{"subtask_index": 424, "subtask": "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."}
+{"subtask_index": 425, "subtask": "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."}
+{"subtask_index": 426, "subtask": "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."}
+{"subtask_index": 427, "subtask": "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."}
+{"subtask_index": 428, "subtask": "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."}
+{"subtask_index": 429, "subtask": "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."}
+{"subtask_index": 430, "subtask": "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."}
+{"subtask_index": 431, "subtask": "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."}
+{"subtask_index": 432, "subtask": "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."}
+{"subtask_index": 433, "subtask": "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."}
+{"subtask_index": 434, "subtask": "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."}
+{"subtask_index": 435, "subtask": "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."}
+{"subtask_index": 436, "subtask": "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."}
+{"subtask_index": 437, "subtask": "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."}
+{"subtask_index": 438, "subtask": "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."}
+{"subtask_index": 439, "subtask": "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."}
+{"subtask_index": 440, "subtask": "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."}
+{"subtask_index": 441, "subtask": "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."}
+{"subtask_index": 442, "subtask": "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."}
+{"subtask_index": 443, "subtask": "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."}
+{"subtask_index": 444, "subtask": "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."}
+{"subtask_index": 445, "subtask": "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."}
+{"subtask_index": 446, "subtask": "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."}
+{"subtask_index": 447, "subtask": "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."}
+{"subtask_index": 448, "subtask": "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."}
+{"subtask_index": 449, "subtask": "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."}
+{"subtask_index": 450, "subtask": "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."}
+{"subtask_index": 451, "subtask": "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."}
+{"subtask_index": 452, "subtask": "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."}
+{"subtask_index": 453, "subtask": "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."}
+{"subtask_index": 454, "subtask": "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."}
+{"subtask_index": 455, "subtask": "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."}
+{"subtask_index": 456, "subtask": "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."}
+{"subtask_index": 457, "subtask": "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."}
+{"subtask_index": 458, "subtask": "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."}
+{"subtask_index": 459, "subtask": "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."}
+{"subtask_index": 460, "subtask": "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."}
+{"subtask_index": 461, "subtask": "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."}
+{"subtask_index": 462, "subtask": "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."}
+{"subtask_index": 463, "subtask": "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."}
+{"subtask_index": 464, "subtask": "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."}
+{"subtask_index": 465, "subtask": "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."}
+{"subtask_index": 466, "subtask": "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."}
+{"subtask_index": 467, "subtask": "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."}
+{"subtask_index": 468, "subtask": "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."}
+{"subtask_index": 469, "subtask": "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."}
+{"subtask_index": 470, "subtask": "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."}
+{"subtask_index": 471, "subtask": "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."}
+{"subtask_index": 472, "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 to form a stable grip."}
+{"subtask_index": 473, "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 on the table without moving."}
+{"subtask_index": 474, "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 table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 475, "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 cubic block off the table and transports it upward to the position right above the vertical peg on the wooden board."}
+{"subtask_index": 476, "subtask": "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."}
+{"subtask_index": 477, "subtask": "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."}
+{"subtask_index": 478, "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 top of the peg set toward the white hexagonal block on the table."}
+{"subtask_index": 479, "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, with fingers closing around the block."}
+{"subtask_index": 480, "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 table without moving."}
+{"subtask_index": 481, "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 object on the black table surface, with fingers adjusting the grip while the object stays on the table."}
+{"subtask_index": 482, "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 object off the table and transports it toward the wooden peg board with purple pegs."}
+{"subtask_index": 483, "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 object onto the leftmost purple peg of the wooden peg board."}
+{"subtask_index": 484, "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 object on the leftmost purple peg without moving."}
+{"subtask_index": 485, "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 hexagonal block onto the leftmost purple peg and releases its grip."}
+{"subtask_index": 486, "subtask": "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."}
+{"subtask_index": 487, "subtask": "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."}
+{"subtask_index": 488, "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 from the black table surface."}
+{"subtask_index": 489, "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 toward the wooden rack with purple rods."}
+{"subtask_index": 490, "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 on the wooden rack by inserting the rod into the block's central hole."}
+{"subtask_index": 491, "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 small white cube on the table in front of the wooden peg rack, not yet touching the cube."}
+{"subtask_index": 492, "subtask": "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."}
+{"subtask_index": 493, "subtask": "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."}
+{"subtask_index": 494, "subtask": "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."}
+{"subtask_index": 495, "subtask": "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."}
+{"subtask_index": 496, "subtask": "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."}
+{"subtask_index": 497, "subtask": "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."}
+{"subtask_index": 498, "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 post on the wooden base, then releases the block."}
+{"subtask_index": 499, "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 cubic block on the dark table surface."}
+{"subtask_index": 500, "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 table, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 501, "subtask": "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."}
+{"subtask_index": 502, "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 black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 503, "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 black table and transports it upward and leftward toward the wooden peg board with white and purple pegs."}
+{"subtask_index": 504, "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 white peg on the wooden peg board and inserts it onto the peg."}
+{"subtask_index": 505, "subtask": "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."}
+{"subtask_index": 506, "subtask": "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."}
+{"subtask_index": 507, "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 piece on the table surface."}
+{"subtask_index": 508, "subtask": "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."}
+{"subtask_index": 509, "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 in mid-air above the table surface without moving."}
+{"subtask_index": 510, "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 with a hole on the black table, adjusting fingers to stabilize the grip."}
+{"subtask_index": 511, "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 towards the purple peg on the wooden base."}
+{"subtask_index": 512, "subtask": "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."}
+{"subtask_index": 513, "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 purple peg without moving."}
+{"subtask_index": 514, "subtask": "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."}
+{"subtask_index": 515, "subtask": "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."}
+{"subtask_index": 516, "subtask": "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."}
+{"subtask_index": 517, "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 table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 518, "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, inserting the rod through the hole of the block."}
+{"subtask_index": 519, "subtask": "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."}
+{"subtask_index": 520, "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, with empty hand approaching the target."}
+{"subtask_index": 521, "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 adjusting to form a stable grip."}
+{"subtask_index": 522, "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 cylindrical block off the table and transports it upward and leftward to the top of the wooden tray."}
+{"subtask_index": 523, "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 purple rod on the wooden tray, aligning and lowering it to fit."}
+{"subtask_index": 524, "subtask": "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."}
+{"subtask_index": 525, "subtask": "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."}
+{"subtask_index": 526, "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 to form a stable grip."}
+{"subtask_index": 527, "subtask": "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."}
+{"subtask_index": 528, "subtask": "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."}
+{"subtask_index": 529, "subtask": "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."}
+{"subtask_index": 530, "subtask": "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."}
+{"subtask_index": 531, "subtask": "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."}
+{"subtask_index": 532, "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 cylinder on the left side of the wooden base without contacting the object."}
+{"subtask_index": 533, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylinder on the wooden base, fingers adjust to form a stable grip."}
+{"subtask_index": 534, "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 upwards to make it leave the supporting surface of the wooden base."}
+{"subtask_index": 535, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white cylinder downwards towards the black table surface near the leftmost green block."}
+{"subtask_index": 536, "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 cylinder onto the black table surface until the object is stably supported by the table."}
+{"subtask_index": 537, "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 work surface until it is completely off the surface."}
+{"subtask_index": 538, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod on the wooden base."}
+{"subtask_index": 539, "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 leftmost purple rod and places it onto the rod."}
+{"subtask_index": 540, "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 purple rod to secure it in place."}
+{"subtask_index": 541, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base area towards the white hexagonal block on the black table surface."}
+{"subtask_index": 542, "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 around the white hexagonal block on the table and adjusts the grip to stabilize the object."}
+{"subtask_index": 543, "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 nut off the table and transports it towards the purple post on the wooden base."}
+{"subtask_index": 544, "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 nut onto the purple post of the wooden base, adjusting position to align and fit."}
+{"subtask_index": 545, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block set towards the white hollow block on the lower left of the table."}
+{"subtask_index": 546, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the lower left of the table."}
+{"subtask_index": 547, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple post on the wooden base."}
+{"subtask_index": 548, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base, adjusting the position to fit correctly."}
+{"subtask_index": 549, "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 cylinder block placed on the purple rod of the wooden base."}
+{"subtask_index": 550, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white cylinder block on the black table in front of the wooden base."}
+{"subtask_index": 551, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylinder block on the black table."}
+{"subtask_index": 552, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 553, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple post on the wooden base."}
+{"subtask_index": 554, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it onto the post."}
+{"subtask_index": 555, "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 post to fix it in place."}
+{"subtask_index": 556, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden block set towards the green hexagonal block on the table."}
+{"subtask_index": 557, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block on the table."}
+{"subtask_index": 558, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it towards the target peg on the wooden rack."}
+{"subtask_index": 559, "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 target peg and inserts it onto the peg."}
+{"subtask_index": 560, "subtask": "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."}
+{"subtask_index": 561, "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 wooden rack."}
+{"subtask_index": 562, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal block on the black table."}
+{"subtask_index": 563, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 564, "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 wooden pegboard."}
+{"subtask_index": 565, "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 target peg of the wooden board."}
+{"subtask_index": 566, "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 wooden board peg without moving."}
+{"subtask_index": 567, "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 top of the stacked blocks on the wooden base."}
+{"subtask_index": 568, "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 near the wooden base."}
+{"subtask_index": 569, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 570, "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 off the tabletop and transports it to the top of the purple rod on the wooden base."}
+{"subtask_index": 571, "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, lowering it until it is supported by the rod."}
+{"subtask_index": 572, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block, fingers opening to separate from the block."}
+{"subtask_index": 573, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 574, "subtask": "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."}
+{"subtask_index": 575, "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 object from the table surface and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 576, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple rod on the wooden rack and releases its grasp."}
+{"subtask_index": 577, "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 green cubic block on the black table, without contacting the block."}
+{"subtask_index": 578, "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 establish a stable grasp on the block."}
+{"subtask_index": 579, "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 up from the table surface."}
+{"subtask_index": 580, "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 column on the wooden shelf."}
+{"subtask_index": 581, "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 white column to attempt assembly."}
+{"subtask_index": 582, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, which falls onto the table."}
+{"subtask_index": 583, "subtask": "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."}
+{"subtask_index": 584, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the green block at the lower right of the table."}
+{"subtask_index": 585, "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 block at the lower right of the table."}
+{"subtask_index": 586, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white column on the wooden shelf."}
+{"subtask_index": 587, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, which falls onto the table surface."}
+{"subtask_index": 588, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the green block on the table surface."}
+{"subtask_index": 589, "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 block on the table surface."}
+{"subtask_index": 590, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the green block onto the white column and releases it."}
+{"subtask_index": 591, "subtask": "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."}
+{"subtask_index": 592, "subtask": "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."}
+{"subtask_index": 593, "subtask": "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."}
+{"subtask_index": 594, "subtask": "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."}
+{"subtask_index": 595, "subtask": "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."}
+{"subtask_index": 596, "subtask": "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."}
+{"subtask_index": 597, "subtask": "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."}
+{"subtask_index": 598, "subtask": "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."}
+{"subtask_index": 599, "subtask": "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."}
+{"subtask_index": 600, "subtask": "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."}
+{"subtask_index": 601, "subtask": "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."}
+{"subtask_index": 602, "subtask": "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."}
+{"subtask_index": 603, "subtask": "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."}
+{"subtask_index": 604, "subtask": "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."}
+{"subtask_index": 605, "subtask": "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."}
+{"subtask_index": 606, "subtask": "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."}
+{"subtask_index": 607, "subtask": "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."}
+{"subtask_index": 608, "subtask": "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."}
+{"subtask_index": 609, "subtask": "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."}
+{"subtask_index": 610, "subtask": "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."}
+{"subtask_index": 611, "subtask": "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."}
+{"subtask_index": 612, "subtask": "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."}
+{"subtask_index": 613, "subtask": "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."}
+{"subtask_index": 614, "subtask": "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."}
+{"subtask_index": 615, "subtask": "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."}
+{"subtask_index": 616, "subtask": "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."}
+{"subtask_index": 617, "subtask": "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."}
+{"subtask_index": 618, "subtask": "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."}
+{"subtask_index": 619, "subtask": "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."}
+{"subtask_index": 620, "subtask": "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."}
+{"subtask_index": 621, "subtask": "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."}
+{"subtask_index": 622, "subtask": "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."}
+{"subtask_index": 623, "subtask": "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."}
+{"subtask_index": 624, "subtask": "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."}
+{"subtask_index": 625, "subtask": "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."}
+{"subtask_index": 626, "subtask": "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."}
+{"subtask_index": 627, "subtask": "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."}
+{"subtask_index": 628, "subtask": "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."}
+{"subtask_index": 629, "subtask": "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."}
+{"subtask_index": 630, "subtask": "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."}
+{"subtask_index": 631, "subtask": "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."}
+{"subtask_index": 632, "subtask": "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."}
+{"subtask_index": 633, "subtask": "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."}
+{"subtask_index": 634, "subtask": "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."}
+{"subtask_index": 635, "subtask": "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."}
+{"subtask_index": 636, "subtask": "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."}
+{"subtask_index": 637, "subtask": "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."}
+{"subtask_index": 638, "subtask": "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."}
+{"subtask_index": 639, "subtask": "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."}
+{"subtask_index": 640, "subtask": "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."}
+{"subtask_index": 641, "subtask": "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."}
+{"subtask_index": 642, "subtask": "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."}
+{"subtask_index": 643, "subtask": "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."}
+{"subtask_index": 644, "subtask": "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."}
+{"subtask_index": 645, "subtask": "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."}
+{"subtask_index": 646, "subtask": "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."}
+{"subtask_index": 647, "subtask": "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."}
+{"subtask_index": 648, "subtask": "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."}
+{"subtask_index": 649, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white annular part on the wooden board."}
+{"subtask_index": 650, "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 annular part on the purple rod with fingers closing and adjusting for stable grip."}
+{"subtask_index": 651, "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 annular part off the purple rod while moving leftward to the top of the leftmost green cube on the table."}
+{"subtask_index": 652, "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 annular part with the leftmost green cube by aligning and inserting it into the cube's central hole."}
+{"subtask_index": 653, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, fingers closing to form a stable grip."}
+{"subtask_index": 654, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the middle purple peg."}
+{"subtask_index": 655, "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 purple peg and inserts it down onto the peg."}
+{"subtask_index": 656, "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 opening to separate from the block."}
+{"subtask_index": 657, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}
+{"subtask_index": 658, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base."}
+{"subtask_index": 659, "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 toward the leftmost white hexagonal block on the dark table surface."}
+{"subtask_index": 660, "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 table surface with fingers closing around the object."}
+{"subtask_index": 661, "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 white hexagonal block on the table surface without moving."}
+{"subtask_index": 662, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black tabletop, adjusting fingers to form a stable grip."}
+{"subtask_index": 663, "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 tabletop and transports it upward to the area above the purple peg on the wooden board."}
+{"subtask_index": 664, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple peg and fits the part down onto the peg to complete assembly."}
+{"subtask_index": 665, "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": 666, "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 above the green base block on the wooden board."}
+{"subtask_index": 667, "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 secure the grip."}
+{"subtask_index": 668, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the peg board with purple pegs."}
+{"subtask_index": 669, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}
+{"subtask_index": 670, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}
+{"subtask_index": 671, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}
+{"subtask_index": 672, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the right purple peg and releases its grip."}
+{"subtask_index": 673, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 674, "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 block off the table surface and transports it upward to the position right above the purple peg."}
+{"subtask_index": 675, "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 peg by aligning the block's hole with the peg and pressing it down onto the peg."}
+{"subtask_index": 676, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers, separating from the block."}
+{"subtask_index": 677, "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 building block set toward the green hollow block on the table."}
+{"subtask_index": 678, "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 hollow block on the table and closes fingers to grasp it with slight adjustments."}
+{"subtask_index": 679, "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 to the top of the vertical peg on the wooden base."}
+{"subtask_index": 680, "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 vertical peg on the wooden base by lowering and aligning the block's hole with the peg."}
+{"subtask_index": 681, "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 fitted on the vertical peg of the wooden base without moving."}
+{"subtask_index": 682, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the green block of the upper stacked structure, with fingers opening and separating from the block."}
+{"subtask_index": 683, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table with empty hand."}
+{"subtask_index": 684, "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 and adjusting the grip."}
+{"subtask_index": 685, "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 off the table and moves it upward and leftward toward the purple rod on the wooden base."}
+{"subtask_index": 686, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal object with the purple rod and lowers it to fit onto the rod."}
+{"subtask_index": 687, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal object on the purple rod without moving."}
+{"subtask_index": 688, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the block tower, with fingers opening to separate from the block."}
+{"subtask_index": 689, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the dark table surface."}
+{"subtask_index": 690, "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, with fingers closing around the block."}
+{"subtask_index": 691, "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": 692, "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 while the block stays on the table surface."}
+{"subtask_index": 693, "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": 694, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block down onto the rod to complete nesting assembly."}
+{"subtask_index": 695, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}
+{"subtask_index": 696, "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 its grip on the block."}
+{"subtask_index": 697, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white block on the black table surface."}
+{"subtask_index": 698, "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 black table surface with fingers closing and adjusting around the block."}
+{"subtask_index": 699, "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 block off the table and transports it toward the wooden tray with the purple rod."}
+{"subtask_index": 700, "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 rod on the tray and fits the block onto the rod."}
+{"subtask_index": 701, "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 down onto the wooden tray until it is supported by the tray surface."}
+{"subtask_index": 702, "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 rod of the tray without moving."}
+{"subtask_index": 703, "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 component down into the white block on the wooden base and releases it."}
+{"subtask_index": 704, "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 cube on the right side of the table."}
+{"subtask_index": 705, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around it."}
+{"subtask_index": 706, "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": 707, "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": 708, "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 off the dark table surface."}
+{"subtask_index": 709, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the white bottle with a purple top on the wooden rack."}
+{"subtask_index": 710, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and lowers the green block onto the white bottle with a purple top on the wooden rack to complete assembly, then releases the green block."}
+{"subtask_index": 711, "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 and green block on the leftmost purple rod of the wooden base."}
+{"subtask_index": 712, "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 and green block on the leftmost purple rod, adjusting the grip to stabilize the block."}
+{"subtask_index": 713, "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 and green block upwards away from the leftmost purple rod of the wooden base."}
+{"subtask_index": 714, "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 grasped white and green block with the lower purple rod in front of the wooden base and inserts it onto the rod."}
+{"subtask_index": 715, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the target purple rod on the wooden base."}
+{"subtask_index": 716, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the green block with the purple rod, inserts it onto the rod and releases the grip on the block."}
+{"subtask_index": 717, "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 peg on the wooden base."}
+{"subtask_index": 718, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 719, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 720, "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 surface and transports it towards the purple cylindrical post on the wooden base."}
+{"subtask_index": 721, "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 onto the purple cylindrical post to secure its position, with minor adjustments to the hand posture."}
+{"subtask_index": 722, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white block onto the purple vertical post and releases the block."}
+{"subtask_index": 723, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}
+{"subtask_index": 724, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 725, "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 cubic block from the tabletop and transports it towards the wooden base with purple pillars."}
+{"subtask_index": 726, "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 cubic block with the target purple pillar on the wooden base and pushes it down to complete fitting."}
+{"subtask_index": 727, "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 cubic block fitted on the purple pillar without moving."}
+{"subtask_index": 728, "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 post on the wooden base."}
+{"subtask_index": 729, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 730, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form stable grip."}
+{"subtask_index": 731, "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 object off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 732, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden base."}
+{"subtask_index": 733, "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 cube on the black table."}
+{"subtask_index": 734, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table, with slight grip adjustment."}
+{"subtask_index": 735, "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 completely off the black table surface."}
+{"subtask_index": 736, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the target rod on the wooden base."}
+{"subtask_index": 737, "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 target rod, inserts it down onto the rod and adjusts to stable position."}
+{"subtask_index": 738, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hollow block placed on the table."}
+{"subtask_index": 739, "subtask": "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."}
+{"subtask_index": 740, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 741, "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 hollow cylinder with the purple rod by inserting it onto the rod."}
+{"subtask_index": 742, "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 cylinder onto the stacked blocks on the wooden base."}
+{"subtask_index": 743, "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 on the tabletop to the right of the wooden base."}
+{"subtask_index": 744, "subtask": "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."}
+{"subtask_index": 745, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical block vertically up from the black table surface, making it leave the support surface."}
+{"subtask_index": 746, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white cylindrical block horizontally above the purple rod on the wooden base."}
+{"subtask_index": 747, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by inserting the rod into the central hole of the block."}
+{"subtask_index": 748, "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 fitted on the purple rod without any movement."}
+{"subtask_index": 749, "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 cylindrical block placed on the right of the table."}
+{"subtask_index": 750, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the table."}
+{"subtask_index": 751, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}
+{"subtask_index": 752, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the wooden rack with multiple blocks."}
+{"subtask_index": 753, "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 vacant position of the wooden rack."}
+{"subtask_index": 754, "subtask": "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."}
+{"subtask_index": 755, "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 cylinder placed on the wooden tray."}
+{"subtask_index": 756, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green cubic block on the right side of the table surface."}
+{"subtask_index": 757, "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 cubic block, with fingers adjusting to form a stable grip."}
+{"subtask_index": 758, "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 upwards off the black table surface."}
+{"subtask_index": 759, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the target white cylinder on the wooden tray."}
+{"subtask_index": 760, "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 top of the white cylinder on the wooden tray."}
+{"subtask_index": 761, "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 white cylinder to fix it in place."}
+{"subtask_index": 762, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block that is fixed on the white cylinder."}
+{"subtask_index": 763, "subtask": "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."}
+{"subtask_index": 764, "subtask": "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."}
+{"subtask_index": 765, "subtask": "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."}
+{"subtask_index": 766, "subtask": "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."}
+{"subtask_index": 767, "subtask": "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."}
+{"subtask_index": 768, "subtask": "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."}
+{"subtask_index": 769, "subtask": "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."}
+{"subtask_index": 770, "subtask": "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."}
+{"subtask_index": 771, "subtask": "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."}
+{"subtask_index": 772, "subtask": "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."}
+{"subtask_index": 773, "subtask": "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."}
+{"subtask_index": 774, "subtask": "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."}
+{"subtask_index": 775, "subtask": "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."}
+{"subtask_index": 776, "subtask": "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."}
+{"subtask_index": 777, "subtask": "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."}
+{"subtask_index": 778, "subtask": "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."}
+{"subtask_index": 779, "subtask": "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."}
+{"subtask_index": 780, "subtask": "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."}
+{"subtask_index": 781, "subtask": "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."}
+{"subtask_index": 782, "subtask": "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."}
+{"subtask_index": 783, "subtask": "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."}
+{"subtask_index": 784, "subtask": "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."}
+{"subtask_index": 785, "subtask": "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."}
+{"subtask_index": 786, "subtask": "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."}
+{"subtask_index": 787, "subtask": "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."}
+{"subtask_index": 788, "subtask": "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."}
+{"subtask_index": 789, "subtask": "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."}
+{"subtask_index": 790, "subtask": "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."}
+{"subtask_index": 791, "subtask": "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."}
+{"subtask_index": 792, "subtask": "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."}
+{"subtask_index": 793, "subtask": "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."}
+{"subtask_index": 794, "subtask": "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."}
+{"subtask_index": 795, "subtask": "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."}
+{"subtask_index": 796, "subtask": "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."}
+{"subtask_index": 797, "subtask": "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."}
+{"subtask_index": 798, "subtask": "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."}
+{"subtask_index": 799, "subtask": "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."}
+{"subtask_index": 800, "subtask": "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."}
+{"subtask_index": 801, "subtask": "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."}
+{"subtask_index": 802, "subtask": "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."}
+{"subtask_index": 803, "subtask": "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."}
+{"subtask_index": 804, "subtask": "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."}
+{"subtask_index": 805, "subtask": "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."}
+{"subtask_index": 806, "subtask": "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."}
+{"subtask_index": 807, "subtask": "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."}
+{"subtask_index": 808, "subtask": "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."}
+{"subtask_index": 809, "subtask": "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."}
+{"subtask_index": 810, "subtask": "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."}
+{"subtask_index": 811, "subtask": "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."}
+{"subtask_index": 812, "subtask": "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."}
+{"subtask_index": 813, "subtask": "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."}
+{"subtask_index": 814, "subtask": "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."}
+{"subtask_index": 815, "subtask": "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."}
+{"subtask_index": 816, "subtask": "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."}
+{"subtask_index": 817, "subtask": "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."}
+{"subtask_index": 818, "subtask": "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."}
+{"subtask_index": 819, "subtask": "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."}
+{"subtask_index": 820, "subtask": "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."}
+{"subtask_index": 821, "subtask": "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."}
+{"subtask_index": 822, "subtask": "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."}
+{"subtask_index": 823, "subtask": "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."}
+{"subtask_index": 824, "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 front-left white hexagonal block on the wooden pegboard to approach the target."}
+{"subtask_index": 825, "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 front-left white hexagonal block on the wooden pegboard, with slight downward movement and grip adjustment to stabilize the hold."}
+{"subtask_index": 826, "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, pulling it away from the purple peg."}
+{"subtask_index": 827, "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 form a stable grip."}
+{"subtask_index": 828, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}
+{"subtask_index": 829, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and fits the block onto the peg, with slight position adjustments during the process."}
+{"subtask_index": 830, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}
+{"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 white hexagonal block on the black table surface, 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: 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."}
+{"subtask_index": 833, "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 left front purple peg of the wooden base, pressing it down until it fits against the green block below."}
+{"subtask_index": 834, "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 object on the purple peg, with fingers opening and separating from the object."}
+{"subtask_index": 835, "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 left front purple peg, moving right to above the middle front purple peg of the wooden base."}
+{"subtask_index": 836, "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 leftmost purple peg of the wooden base and releases it."}
+{"subtask_index": 837, "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 left part of the table."}
+{"subtask_index": 838, "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 left part of the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 839, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left part of the table without moving."}
+{"subtask_index": 840, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and toward the wooden peg board."}
+{"subtask_index": 841, "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 a vertical peg on the wooden board and moves it downward to assemble the block onto the peg."}
+{"subtask_index": 842, "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 block onto the purple peg of the wooden base and releases the block."}
+{"subtask_index": 843, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table and grasps it."}
+{"subtask_index": 844, "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": 845, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple vertical peg."}
+{"subtask_index": 846, "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 vertical peg, lowering it to fit onto the peg."}
+{"subtask_index": 847, "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 white hexagonal block."}
+{"subtask_index": 848, "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 rightmost purple rod of the building block set, with fingers opening and moving upward to separate from the block."}
+{"subtask_index": 849, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}
+{"subtask_index": 850, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 851, "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": 852, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and leftward toward the wooden pegboard with white cylinders."}
+{"subtask_index": 853, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg on the pegboard and lowers it onto the peg for assembly."}
+{"subtask_index": 854, "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 pegboard without moving."}
+{"subtask_index": 855, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the peg to push it further into position."}
+{"subtask_index": 856, "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 on the purple rod of the wooden base, with fingers opening from closed state."}
+{"subtask_index": 857, "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, with hand remaining empty."}
+{"subtask_index": 858, "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 form a stable grip."}
+{"subtask_index": 859, "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": 860, "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 cylinder on the right side of the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 861, "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 from the table and transports it toward the wooden peg base."}
+{"subtask_index": 862, "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 with the peg on the wooden base by aligning and lowering it onto the peg."}
+{"subtask_index": 863, "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 cylinder on the wooden base peg without moving."}
+{"subtask_index": 864, "subtask": "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."}
+{"subtask_index": 865, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the dark table surface."}
+{"subtask_index": 866, "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 dark table surface with fingers closing around it."}
+{"subtask_index": 867, "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 stationary on the table surface."}
+{"subtask_index": 868, "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": 869, "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 leftward and upward to the position above the purple rod on the wooden rack."}
+{"subtask_index": 870, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, aligning and lowering the block onto the rod."}
+{"subtask_index": 871, "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 of the wooden rack and releases the block."}
+{"subtask_index": 872, "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": 873, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 874, "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": 875, "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 black table surface, adjusting its fingers to form a stable grip."}
+{"subtask_index": 876, "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 cylindrical block off the table and transports it toward the purple peg on the wooden base."}
+{"subtask_index": 877, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg and inserts it down onto the peg."}
+{"subtask_index": 878, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical block on the purple peg, with fingers opening to separate from the block."}
+{"subtask_index": 879, "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 white hollow cylindrical block on the purple peg."}
+{"subtask_index": 880, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right from the area near the white cylinder rack towards the green cube on the table, with fingers extended."}
+{"subtask_index": 881, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 882, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right area of the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 883, "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 off the table surface."}
+{"subtask_index": 884, "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 leftward and upward to the position above the target peg on the wooden rack."}
+{"subtask_index": 885, "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 white peg by aligning the block hole with the peg and fitting it downward."}
+{"subtask_index": 886, "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 to secure it on the peg and releases the block."}
+{"subtask_index": 887, "subtask": "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."}
+{"subtask_index": 888, "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 middle wooden base."}
+{"subtask_index": 889, "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 contact the white cylindrical block and adjusts the grip posture to stabilize the grasp."}
+{"subtask_index": 890, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the target purple rod on the wooden base."}
+{"subtask_index": 891, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block with the target purple rod by lowering it onto the rod."}
+{"subtask_index": 892, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the desktop, not contacting the object yet."}
+{"subtask_index": 893, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the desktop, making small adjustments to the grip."}
+{"subtask_index": 894, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target purple rod on the wooden base."}
+{"subtask_index": 895, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand lowers the white hexagonal block onto the purple rod and presses it down to complete the assembly."}
+{"subtask_index": 896, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white annular object onto the purple post on the wooden base and releases its grip on the object."}
+{"subtask_index": 897, "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 hollow hexagonal ring on the black table surface."}
+{"subtask_index": 898, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hollow hexagonal ring on the black table."}
+{"subtask_index": 899, "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 grasped white hexagonal block off the table and transports it towards the wooden peg rack at the upper right of the frame."}
+{"subtask_index": 900, "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 on the wooden rack."}
+{"subtask_index": 901, "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 onto the aligned peg to fix it in position."}
+{"subtask_index": 902, "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 small white block on the table next to the wooden peg base."}
+{"subtask_index": 903, "subtask": "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."}
+{"subtask_index": 904, "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 small white block on the table without moving."}
+{"subtask_index": 905, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing to secure the block."}
+{"subtask_index": 906, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black tabletop."}
+{"subtask_index": 907, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}
+{"subtask_index": 908, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering and aligning the block to fit onto the rod."}
+{"subtask_index": 909, "subtask": "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."}
+{"subtask_index": 910, "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 around the green hexagonal block on the table to form a stable grip."}
+{"subtask_index": 911, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the upper position of the purple rod on the wooden rack."}
+{"subtask_index": 912, "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 purple rod on the wooden rack."}
+{"subtask_index": 913, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}
+{"subtask_index": 914, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}
+{"subtask_index": 915, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 916, "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 object off the table and transports it towards the wooden base with vertical pegs."}
+{"subtask_index": 917, "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 cylindrical object with the purple peg on the wooden base and inserts it onto the peg."}
+{"subtask_index": 918, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}
+{"subtask_index": 919, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table to the right of the wooden base."}
+{"subtask_index": 920, "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 off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 921, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod, inserting the rod through the block's hole and placing it onto the base."}
+{"subtask_index": 922, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 923, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 924, "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 cube from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 925, "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 cube with the purple rod by aligning and inserting it onto the rod."}
+{"subtask_index": 926, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cube on the right part of the table without touching it."}
+{"subtask_index": 927, "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 cube, closes fingers to adjust and form a grasp on the cube."}
+{"subtask_index": 928, "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 up away from the table surface."}
+{"subtask_index": 929, "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 cylinder on the wooden rack."}
+{"subtask_index": 930, "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 top of the target white cylinder, adjusting position to complete fitting."}
+{"subtask_index": 931, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}
+{"subtask_index": 932, "subtask": "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."}
+{"subtask_index": 933, "subtask": "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."}
+{"subtask_index": 934, "subtask": "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."}
+{"subtask_index": 935, "subtask": "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."}
+{"subtask_index": 936, "subtask": "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."}
+{"subtask_index": 937, "subtask": "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."}
+{"subtask_index": 938, "subtask": "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."}
+{"subtask_index": 939, "subtask": "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."}
+{"subtask_index": 940, "subtask": "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."}
+{"subtask_index": 941, "subtask": "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."}
+{"subtask_index": 942, "subtask": "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."}
+{"subtask_index": 943, "subtask": "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."}
+{"subtask_index": 944, "subtask": "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."}
+{"subtask_index": 945, "subtask": "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."}
+{"subtask_index": 946, "subtask": "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."}
+{"subtask_index": 947, "subtask": "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."}
+{"subtask_index": 948, "subtask": "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."}
+{"subtask_index": 949, "subtask": "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."}
+{"subtask_index": 950, "subtask": "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."}
+{"subtask_index": 951, "subtask": "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."}
+{"subtask_index": 952, "subtask": "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."}
+{"subtask_index": 953, "subtask": "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."}
+{"subtask_index": 954, "subtask": "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."}
+{"subtask_index": 955, "subtask": "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."}
+{"subtask_index": 956, "subtask": "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."}
+{"subtask_index": 957, "subtask": "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."}
+{"subtask_index": 958, "subtask": "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."}
+{"subtask_index": 959, "subtask": "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."}
+{"subtask_index": 960, "subtask": "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."}
+{"subtask_index": 961, "subtask": "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."}
+{"subtask_index": 962, "subtask": "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."}
+{"subtask_index": 963, "subtask": "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."}
+{"subtask_index": 964, "subtask": "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."}
+{"subtask_index": 965, "subtask": "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."}
+{"subtask_index": 966, "subtask": "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."}
+{"subtask_index": 967, "subtask": "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."}
+{"subtask_index": 968, "subtask": "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."}
+{"subtask_index": 969, "subtask": "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."}
+{"subtask_index": 970, "subtask": "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."}
+{"subtask_index": 971, "subtask": "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."}
+{"subtask_index": 972, "subtask": "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."}
+{"subtask_index": 973, "subtask": "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."}
+{"subtask_index": 974, "subtask": "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."}
+{"subtask_index": 975, "subtask": "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."}
+{"subtask_index": 976, "subtask": "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."}
+{"subtask_index": 977, "subtask": "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."}
+{"subtask_index": 978, "subtask": "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."}
+{"subtask_index": 979, "subtask": "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."}
+{"subtask_index": 980, "subtask": "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."}
+{"subtask_index": 981, "subtask": "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."}
+{"subtask_index": 982, "subtask": "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."}
+{"subtask_index": 983, "subtask": "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."}
+{"subtask_index": 984, "subtask": "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."}
+{"subtask_index": 985, "subtask": "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."}
+{"subtask_index": 986, "subtask": "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."}
+{"subtask_index": 987, "subtask": "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."}
+{"subtask_index": 988, "subtask": "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."}
+{"subtask_index": 989, "subtask": "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."}
+{"subtask_index": 990, "subtask": "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."}
+{"subtask_index": 991, "subtask": "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."}
+{"subtask_index": 992, "subtask": "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."}
+{"subtask_index": 993, "subtask": "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."}
+{"subtask_index": 994, "subtask": "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."}
+{"subtask_index": 995, "subtask": "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."}
+{"subtask_index": 996, "subtask": "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."}
+{"subtask_index": 997, "subtask": "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."}
+{"subtask_index": 998, "subtask": "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."}
+{"subtask_index": 999, "subtask": "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."}
+{"subtask_index": 1000, "subtask": "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."}
+{"subtask_index": 1001, "subtask": "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."}
+{"subtask_index": 1002, "subtask": "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."}
+{"subtask_index": 1003, "subtask": "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."}
+{"subtask_index": 1004, "subtask": "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."}
+{"subtask_index": 1005, "subtask": "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."}
+{"subtask_index": 1006, "subtask": "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."}
+{"subtask_index": 1007, "subtask": "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."}
+{"subtask_index": 1008, "subtask": "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."}
+{"subtask_index": 1009, "subtask": "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."}
+{"subtask_index": 1010, "subtask": "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."}
+{"subtask_index": 1011, "subtask": "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."}
+{"subtask_index": 1012, "subtask": "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."}
+{"subtask_index": 1013, "subtask": "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."}
+{"subtask_index": 1014, "subtask": "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."}
+{"subtask_index": 1015, "subtask": "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."}
+{"subtask_index": 1016, "subtask": "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."}
+{"subtask_index": 1017, "subtask": "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."}
+{"subtask_index": 1018, "subtask": "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."}
+{"subtask_index": 1019, "subtask": "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."}
+{"subtask_index": 1020, "subtask": "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."}
+{"subtask_index": 1021, "subtask": "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."}
+{"subtask_index": 1022, "subtask": "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."}
+{"subtask_index": 1023, "subtask": "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."}
+{"subtask_index": 1024, "subtask": "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."}
+{"subtask_index": 1025, "subtask": "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."}
+{"subtask_index": 1026, "subtask": "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."}
+{"subtask_index": 1027, "subtask": "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."}
+{"subtask_index": 1028, "subtask": "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."}
+{"subtask_index": 1029, "subtask": "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."}
+{"subtask_index": 1030, "subtask": "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."}
+{"subtask_index": 1031, "subtask": "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."}
+{"subtask_index": 1032, "subtask": "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."}
+{"subtask_index": 1033, "subtask": "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."}
+{"subtask_index": 1034, "subtask": "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."}
+{"subtask_index": 1035, "subtask": "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."}
+{"subtask_index": 1036, "subtask": "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."}
+{"subtask_index": 1037, "subtask": "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."}
+{"subtask_index": 1038, "subtask": "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."}
+{"subtask_index": 1039, "subtask": "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."}
+{"subtask_index": 1040, "subtask": "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."}
+{"subtask_index": 1041, "subtask": "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."}
+{"subtask_index": 1042, "subtask": "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."}
+{"subtask_index": 1043, "subtask": "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."}
+{"subtask_index": 1044, "subtask": "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."}
+{"subtask_index": 1045, "subtask": "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."}
+{"subtask_index": 1046, "subtask": "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."}
+{"subtask_index": 1047, "subtask": "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."}
+{"subtask_index": 1048, "subtask": "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."}
+{"subtask_index": 1049, "subtask": "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."}
+{"subtask_index": 1050, "subtask": "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."}
+{"subtask_index": 1051, "subtask": "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."}
+{"subtask_index": 1052, "subtask": "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."}
+{"subtask_index": 1053, "subtask": "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."}
+{"subtask_index": 1054, "subtask": "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."}
+{"subtask_index": 1055, "subtask": "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."}
+{"subtask_index": 1056, "subtask": "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."}
+{"subtask_index": 1057, "subtask": "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."}
+{"subtask_index": 1058, "subtask": "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."}
+{"subtask_index": 1059, "subtask": "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."}
+{"subtask_index": 1060, "subtask": "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."}
+{"subtask_index": 1061, "subtask": "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."}
+{"subtask_index": 1062, "subtask": "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."}
+{"subtask_index": 1063, "subtask": "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."}
+{"subtask_index": 1064, "subtask": "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."}
+{"subtask_index": 1065, "subtask": "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."}
+{"subtask_index": 1066, "subtask": "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."}
+{"subtask_index": 1067, "subtask": "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."}
+{"subtask_index": 1068, "subtask": "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."}
+{"subtask_index": 1069, "subtask": "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."}
+{"subtask_index": 1070, "subtask": "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."}
+{"subtask_index": 1071, "subtask": "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."}
+{"subtask_index": 1072, "subtask": "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."}
+{"subtask_index": 1073, "subtask": "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."}
+{"subtask_index": 1074, "subtask": "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."}
+{"subtask_index": 1075, "subtask": "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."}
+{"subtask_index": 1076, "subtask": "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."}
+{"subtask_index": 1077, "subtask": "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."}
+{"subtask_index": 1078, "subtask": "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."}
+{"subtask_index": 1079, "subtask": "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."}
+{"subtask_index": 1080, "subtask": "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."}
+{"subtask_index": 1081, "subtask": "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."}
+{"subtask_index": 1082, "subtask": "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."}
+{"subtask_index": 1083, "subtask": "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."}
+{"subtask_index": 1084, "subtask": "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."}
+{"subtask_index": 1085, "subtask": "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."}
+{"subtask_index": 1086, "subtask": "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."}
+{"subtask_index": 1087, "subtask": "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."}
+{"subtask_index": 1088, "subtask": "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."}
+{"subtask_index": 1089, "subtask": "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."}
+{"subtask_index": 1090, "subtask": "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."}
+{"subtask_index": 1091, "subtask": "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."}
+{"subtask_index": 1092, "subtask": "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."}
+{"subtask_index": 1093, "subtask": "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."}
+{"subtask_index": 1094, "subtask": "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."}
+{"subtask_index": 1095, "subtask": "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."}
+{"subtask_index": 1096, "subtask": "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."}
+{"subtask_index": 1097, "subtask": "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."}
+{"subtask_index": 1098, "subtask": "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."}
+{"subtask_index": 1099, "subtask": "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."}
+{"subtask_index": 1100, "subtask": "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."}
+{"subtask_index": 1101, "subtask": "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."}
+{"subtask_index": 1102, "subtask": "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."}
+{"subtask_index": 1103, "subtask": "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."}
+{"subtask_index": 1104, "subtask": "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."}
+{"subtask_index": 1105, "subtask": "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."}
+{"subtask_index": 1106, "subtask": "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."}
+{"subtask_index": 1107, "subtask": "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."}
+{"subtask_index": 1108, "subtask": "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."}
+{"subtask_index": 1109, "subtask": "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."}
+{"subtask_index": 1110, "subtask": "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."}
+{"subtask_index": 1111, "subtask": "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."}
+{"subtask_index": 1112, "subtask": "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."}
+{"subtask_index": 1113, "subtask": "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."}
+{"subtask_index": 1114, "subtask": "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."}
+{"subtask_index": 1115, "subtask": "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."}
+{"subtask_index": 1116, "subtask": "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."}
+{"subtask_index": 1117, "subtask": "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."}
+{"subtask_index": 1118, "subtask": "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."}
+{"subtask_index": 1119, "subtask": "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."}
+{"subtask_index": 1120, "subtask": "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."}
+{"subtask_index": 1121, "subtask": "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."}
+{"subtask_index": 1122, "subtask": "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."}
+{"subtask_index": 1123, "subtask": "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."}
+{"subtask_index": 1124, "subtask": "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."}
+{"subtask_index": 1125, "subtask": "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."}
+{"subtask_index": 1126, "subtask": "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."}
+{"subtask_index": 1127, "subtask": "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."}
+{"subtask_index": 1128, "subtask": "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."}
+{"subtask_index": 1129, "subtask": "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."}
+{"subtask_index": 1130, "subtask": "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."}
+{"subtask_index": 1131, "subtask": "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."}
+{"subtask_index": 1132, "subtask": "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."}
+{"subtask_index": 1133, "subtask": "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."}
+{"subtask_index": 1134, "subtask": "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."}
+{"subtask_index": 1135, "subtask": "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."}
+{"subtask_index": 1136, "subtask": "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."}
+{"subtask_index": 1137, "subtask": "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."}
+{"subtask_index": 1138, "subtask": "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."}
+{"subtask_index": 1139, "subtask": "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."}
+{"subtask_index": 1140, "subtask": "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."}
+{"subtask_index": 1141, "subtask": "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."}
+{"subtask_index": 1142, "subtask": "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."}
+{"subtask_index": 1143, "subtask": "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."}
+{"subtask_index": 1144, "subtask": "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."}
+{"subtask_index": 1145, "subtask": "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."}
+{"subtask_index": 1146, "subtask": "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."}
+{"subtask_index": 1147, "subtask": "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."}
+{"subtask_index": 1148, "subtask": "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."}
+{"subtask_index": 1149, "subtask": "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."}
+{"subtask_index": 1150, "subtask": "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."}
+{"subtask_index": 1151, "subtask": "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."}
+{"subtask_index": 1152, "subtask": "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."}
+{"subtask_index": 1153, "subtask": "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."}
+{"subtask_index": 1154, "subtask": "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."}
+{"subtask_index": 1155, "subtask": "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."}
+{"subtask_index": 1156, "subtask": "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."}
+{"subtask_index": 1157, "subtask": "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."}
+{"subtask_index": 1158, "subtask": "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."}
+{"subtask_index": 1159, "subtask": "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."}
+{"subtask_index": 1160, "subtask": "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."}
+{"subtask_index": 1161, "subtask": "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."}
+{"subtask_index": 1162, "subtask": "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."}
+{"subtask_index": 1163, "subtask": "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."}
+{"subtask_index": 1164, "subtask": "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."}
+{"subtask_index": 1165, "subtask": "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."}
+{"subtask_index": 1166, "subtask": "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."}
+{"subtask_index": 1167, "subtask": "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."}
+{"subtask_index": 1168, "subtask": "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."}
+{"subtask_index": 1169, "subtask": "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."}
+{"subtask_index": 1170, "subtask": "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."}
+{"subtask_index": 1171, "subtask": "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."}
+{"subtask_index": 1172, "subtask": "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."}
+{"subtask_index": 1173, "subtask": "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."}
+{"subtask_index": 1174, "subtask": "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."}
+{"subtask_index": 1175, "subtask": "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."}
+{"subtask_index": 1176, "subtask": "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."}
+{"subtask_index": 1177, "subtask": "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."}
+{"subtask_index": 1178, "subtask": "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."}
+{"subtask_index": 1179, "subtask": "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."}
+{"subtask_index": 1180, "subtask": "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."}
+{"subtask_index": 1181, "subtask": "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."}
+{"subtask_index": 1182, "subtask": "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."}
+{"subtask_index": 1183, "subtask": "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."}
+{"subtask_index": 1184, "subtask": "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."}
+{"subtask_index": 1185, "subtask": "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."}
+{"subtask_index": 1186, "subtask": "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."}
+{"subtask_index": 1187, "subtask": "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."}
+{"subtask_index": 1188, "subtask": "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."}
+{"subtask_index": 1189, "subtask": "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."}
+{"subtask_index": 1190, "subtask": "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."}
+{"subtask_index": 1191, "subtask": "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."}
+{"subtask_index": 1192, "subtask": "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."}
+{"subtask_index": 1193, "subtask": "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."}
+{"subtask_index": 1194, "subtask": "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."}
+{"subtask_index": 1195, "subtask": "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."}
+{"subtask_index": 1196, "subtask": "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."}
+{"subtask_index": 1197, "subtask": "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."}
+{"subtask_index": 1198, "subtask": "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."}
+{"subtask_index": 1199, "subtask": "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."}
+{"subtask_index": 1200, "subtask": "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."}
+{"subtask_index": 1201, "subtask": "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."}
+{"subtask_index": 1202, "subtask": "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."}
+{"subtask_index": 1203, "subtask": "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."}
+{"subtask_index": 1204, "subtask": "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."}
+{"subtask_index": 1205, "subtask": "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."}
+{"subtask_index": 1206, "subtask": "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."}
+{"subtask_index": 1207, "subtask": "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."}
+{"subtask_index": 1208, "subtask": "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."}
+{"subtask_index": 1209, "subtask": "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."}
+{"subtask_index": 1210, "subtask": "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."}
+{"subtask_index": 1211, "subtask": "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."}
+{"subtask_index": 1212, "subtask": "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."}
+{"subtask_index": 1213, "subtask": "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."}
+{"subtask_index": 1214, "subtask": "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."}
+{"subtask_index": 1215, "subtask": "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."}
+{"subtask_index": 1216, "subtask": "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."}
+{"subtask_index": 1217, "subtask": "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."}
+{"subtask_index": 1218, "subtask": "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."}
+{"subtask_index": 1219, "subtask": "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."}
+{"subtask_index": 1220, "subtask": "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."}
+{"subtask_index": 1221, "subtask": "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."}
+{"subtask_index": 1222, "subtask": "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."}
+{"subtask_index": 1223, "subtask": "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."}
+{"subtask_index": 1224, "subtask": "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."}
+{"subtask_index": 1225, "subtask": "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."}
+{"subtask_index": 1226, "subtask": "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."}
+{"subtask_index": 1227, "subtask": "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."}
+{"subtask_index": 1228, "subtask": "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."}
+{"subtask_index": 1229, "subtask": "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."}
+{"subtask_index": 1230, "subtask": "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."}
+{"subtask_index": 1231, "subtask": "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."}
+{"subtask_index": 1232, "subtask": "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."}
+{"subtask_index": 1233, "subtask": "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."}
+{"subtask_index": 1234, "subtask": "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."}
+{"subtask_index": 1235, "subtask": "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."}
+{"subtask_index": 1236, "subtask": "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."}
+{"subtask_index": 1237, "subtask": "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."}
+{"subtask_index": 1238, "subtask": "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."}
+{"subtask_index": 1239, "subtask": "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."}
+{"subtask_index": 1240, "subtask": "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."}
+{"subtask_index": 1241, "subtask": "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."}
+{"subtask_index": 1242, "subtask": "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."}
+{"subtask_index": 1243, "subtask": "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."}
+{"subtask_index": 1244, "subtask": "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."}
+{"subtask_index": 1245, "subtask": "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."}
+{"subtask_index": 1246, "subtask": "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."}
+{"subtask_index": 1247, "subtask": "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."}
+{"subtask_index": 1248, "subtask": "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."}
+{"subtask_index": 1249, "subtask": "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."}
+{"subtask_index": 1250, "subtask": "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."}
+{"subtask_index": 1251, "subtask": "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."}
+{"subtask_index": 1252, "subtask": "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."}
+{"subtask_index": 1253, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block placed in front of the wooden peg rack on the table."}
+{"subtask_index": 1254, "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, adjusting fingers to form a stable grip."}
+{"subtask_index": 1255, "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 black table surface."}
+{"subtask_index": 1256, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the purple peg on the wooden base."}
+{"subtask_index": 1257, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and fitting it onto the peg."}
+{"subtask_index": 1258, "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 secure it."}
+{"subtask_index": 1259, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}
+{"subtask_index": 1260, "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 mounting rack, adjusting the block to fit properly."}
+{"subtask_index": 1261, "subtask": "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."}
+{"subtask_index": 1262, "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 nut completely off the black table surface."}
+{"subtask_index": 1263, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden base."}
+{"subtask_index": 1264, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and presses it down onto the rod for assembly."}
+{"subtask_index": 1265, "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 vertical rod on the wooden base."}
+{"subtask_index": 1266, "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 gray table surface."}
+{"subtask_index": 1267, "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 gray table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1268, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the front purple rod on the wooden base."}
+{"subtask_index": 1269, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align it with the front purple rod on the wooden base."}
+{"subtask_index": 1270, "subtask": "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."}
+{"subtask_index": 1271, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 1272, "subtask": "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."}
+{"subtask_index": 1273, "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": 1274, "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 table in front of the wooden base."}
+{"subtask_index": 1275, "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": 1276, "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 without moving."}
+{"subtask_index": 1277, "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 black tabletop near the wooden base, adjusting fingers to form stable grip."}
+{"subtask_index": 1278, "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 up off the black tabletop."}
+{"subtask_index": 1279, "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": 1280, "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, inserting the block onto the rod and pressing it down to complete assembly."}
+{"subtask_index": 1281, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green block on the table, without contacting the block."}
+{"subtask_index": 1282, "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 on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 1283, "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 to the top of the post on the wooden rack."}
+{"subtask_index": 1284, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the post on the wooden rack and inserts it onto the post."}
+{"subtask_index": 1285, "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."}
+{"subtask_index": 1286, "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 table."}
+{"subtask_index": 1287, "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 towards the target peg on the wooden base."}
+{"subtask_index": 1288, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and fits it onto the peg."}
+{"subtask_index": 1289, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip after mating it onto the peg."}
+{"subtask_index": 1290, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the second white hexagonal block on the black tabletop."}
+{"subtask_index": 1291, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the tabletop, adjusting fingers to stabilize the grip."}
+{"subtask_index": 1292, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the tabletop and transports it towards the target peg on the wooden base."}
+{"subtask_index": 1293, "subtask": "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."}
+{"subtask_index": 1294, "subtask": "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."}
+{"subtask_index": 1295, "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 near the wooden block set."}
+{"subtask_index": 1296, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1297, "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 moving."}
+{"subtask_index": 1298, "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 white hexagonal block on the table."}
+{"subtask_index": 1299, "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 tray."}
+{"subtask_index": 1300, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}
+{"subtask_index": 1301, "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 desktop without contacting the block."}
+{"subtask_index": 1302, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the desktop, with fingers adjusting to form stable grasp."}
+{"subtask_index": 1303, "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 off the table surface."}
+{"subtask_index": 1304, "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 shelf with the purple rod."}
+{"subtask_index": 1305, "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 rod and inserts it downwards onto the rod."}
+{"subtask_index": 1306, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the purple rod."}
+{"subtask_index": 1307, "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 bottle rack towards the green cubic object on the table."}
+{"subtask_index": 1308, "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 cubic object, adjusts finger position to form a stable grip on the object."}
+{"subtask_index": 1309, "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 slightly upward while the object remains in contact with the table surface."}
+{"subtask_index": 1310, "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 black table surface."}
+{"subtask_index": 1311, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the white bottle rack."}
+{"subtask_index": 1312, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with a purple protruding rod on the rack."}
+{"subtask_index": 1313, "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 top of the target white bottle and releases its grip."}
+{"subtask_index": 1314, "subtask": "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."}
+{"subtask_index": 1315, "subtask": "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."}
+{"subtask_index": 1316, "subtask": "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."}
+{"subtask_index": 1317, "subtask": "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."}
+{"subtask_index": 1318, "subtask": "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."}
+{"subtask_index": 1319, "subtask": "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."}
+{"subtask_index": 1320, "subtask": "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."}
+{"subtask_index": 1321, "subtask": "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."}
+{"subtask_index": 1322, "subtask": "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."}
+{"subtask_index": 1323, "subtask": "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."}
+{"subtask_index": 1324, "subtask": "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."}
+{"subtask_index": 1325, "subtask": "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."}
+{"subtask_index": 1326, "subtask": "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."}
+{"subtask_index": 1327, "subtask": "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."}
+{"subtask_index": 1328, "subtask": "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."}
+{"subtask_index": 1329, "subtask": "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."}
+{"subtask_index": 1330, "subtask": "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."}
+{"subtask_index": 1331, "subtask": "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."}
+{"subtask_index": 1332, "subtask": "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."}
+{"subtask_index": 1333, "subtask": "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."}
+{"subtask_index": 1334, "subtask": "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."}
+{"subtask_index": 1335, "subtask": "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."}
+{"subtask_index": 1336, "subtask": "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."}
+{"subtask_index": 1337, "subtask": "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."}
+{"subtask_index": 1338, "subtask": "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."}
+{"subtask_index": 1339, "subtask": "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."}
+{"subtask_index": 1340, "subtask": "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."}
+{"subtask_index": 1341, "subtask": "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."}
+{"subtask_index": 1342, "subtask": "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."}
+{"subtask_index": 1343, "subtask": "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."}
+{"subtask_index": 1344, "subtask": "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."}
+{"subtask_index": 1345, "subtask": "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."}
+{"subtask_index": 1346, "subtask": "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."}
+{"subtask_index": 1347, "subtask": "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."}
+{"subtask_index": 1348, "subtask": "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."}
+{"subtask_index": 1349, "subtask": "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."}
+{"subtask_index": 1350, "subtask": "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."}
+{"subtask_index": 1351, "subtask": "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."}
+{"subtask_index": 1352, "subtask": "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."}
+{"subtask_index": 1353, "subtask": "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."}
+{"subtask_index": 1354, "subtask": "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."}
+{"subtask_index": 1355, "subtask": "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."}
+{"subtask_index": 1356, "subtask": "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."}
+{"subtask_index": 1357, "subtask": "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."}
+{"subtask_index": 1358, "subtask": "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."}
+{"subtask_index": 1359, "subtask": "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."}
+{"subtask_index": 1360, "subtask": "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."}
+{"subtask_index": 1361, "subtask": "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."}
+{"subtask_index": 1362, "subtask": "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."}
+{"subtask_index": 1363, "subtask": "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."}
+{"subtask_index": 1364, "subtask": "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."}
+{"subtask_index": 1365, "subtask": "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."}
+{"subtask_index": 1366, "subtask": "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."}
+{"subtask_index": 1367, "subtask": "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."}
+{"subtask_index": 1368, "subtask": "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."}
+{"subtask_index": 1369, "subtask": "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."}
+{"subtask_index": 1370, "subtask": "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."}
+{"subtask_index": 1371, "subtask": "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."}
+{"subtask_index": 1372, "subtask": "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."}
+{"subtask_index": 1373, "subtask": "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."}
+{"subtask_index": 1374, "subtask": "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."}
+{"subtask_index": 1375, "subtask": "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."}
+{"subtask_index": 1376, "subtask": "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."}
+{"subtask_index": 1377, "subtask": "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."}
+{"subtask_index": 1378, "subtask": "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."}
+{"subtask_index": 1379, "subtask": "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."}
+{"subtask_index": 1380, "subtask": "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."}
+{"subtask_index": 1381, "subtask": "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."}
+{"subtask_index": 1382, "subtask": "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."}
+{"subtask_index": 1383, "subtask": "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."}
+{"subtask_index": 1384, "subtask": "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."}
+{"subtask_index": 1385, "subtask": "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."}
+{"subtask_index": 1386, "subtask": "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."}
+{"subtask_index": 1387, "subtask": "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."}
+{"subtask_index": 1388, "subtask": "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."}
+{"subtask_index": 1389, "subtask": "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."}
+{"subtask_index": 1390, "subtask": "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."}
+{"subtask_index": 1391, "subtask": "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."}
+{"subtask_index": 1392, "subtask": "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."}
+{"subtask_index": 1393, "subtask": "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."}
+{"subtask_index": 1394, "subtask": "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."}
+{"subtask_index": 1395, "subtask": "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."}
+{"subtask_index": 1396, "subtask": "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."}
+{"subtask_index": 1397, "subtask": "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."}
+{"subtask_index": 1398, "subtask": "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."}
+{"subtask_index": 1399, "subtask": "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."}
+{"subtask_index": 1400, "subtask": "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."}
+{"subtask_index": 1401, "subtask": "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."}
+{"subtask_index": 1402, "subtask": "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."}
+{"subtask_index": 1403, "subtask": "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."}
+{"subtask_index": 1404, "subtask": "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."}
+{"subtask_index": 1405, "subtask": "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."}
+{"subtask_index": 1406, "subtask": "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."}
+{"subtask_index": 1407, "subtask": "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."}
+{"subtask_index": 1408, "subtask": "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."}
+{"subtask_index": 1409, "subtask": "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."}
+{"subtask_index": 1410, "subtask": "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."}
+{"subtask_index": 1411, "subtask": "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."}
+{"subtask_index": 1412, "subtask": "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."}
+{"subtask_index": 1413, "subtask": "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."}
+{"subtask_index": 1414, "subtask": "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."}
+{"subtask_index": 1415, "subtask": "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."}
+{"subtask_index": 1416, "subtask": "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."}
+{"subtask_index": 1417, "subtask": "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."}
+{"subtask_index": 1418, "subtask": "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."}
+{"subtask_index": 1419, "subtask": "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."}
+{"subtask_index": 1420, "subtask": "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."}
+{"subtask_index": 1421, "subtask": "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."}
+{"subtask_index": 1422, "subtask": "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."}
+{"subtask_index": 1423, "subtask": "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."}
+{"subtask_index": 1424, "subtask": "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."}
+{"subtask_index": 1425, "subtask": "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."}
+{"subtask_index": 1426, "subtask": "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."}
+{"subtask_index": 1427, "subtask": "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."}
+{"subtask_index": 1428, "subtask": "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."}
+{"subtask_index": 1429, "subtask": "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."}
+{"subtask_index": 1430, "subtask": "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."}
+{"subtask_index": 1431, "subtask": "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."}
+{"subtask_index": 1432, "subtask": "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."}
+{"subtask_index": 1433, "subtask": "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."}
+{"subtask_index": 1434, "subtask": "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."}
+{"subtask_index": 1435, "subtask": "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."}
+{"subtask_index": 1436, "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 at the front left of the wooden peg base."}
+{"subtask_index": 1437, "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 adjusts grip on the green cubic block on the black tabletop."}
+{"subtask_index": 1438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the tabletop and transports it above the leftmost purple post on the wooden base."}
+{"subtask_index": 1439, "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 square block with the leftmost purple post and fits it down onto the post to complete assembly."}
+{"subtask_index": 1440, "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 table."}
+{"subtask_index": 1441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting."}
+{"subtask_index": 1442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}
+{"subtask_index": 1443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and lowers it to mate the block onto the peg."}
+{"subtask_index": 1444, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple peg."}
+{"subtask_index": 1445, "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 left of the desktop."}
+{"subtask_index": 1446, "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 desktop, adjusting the grip."}
+{"subtask_index": 1447, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it to the position above the target purple rod on the wooden rack."}
+{"subtask_index": 1448, "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 top of the target purple rod."}
+{"subtask_index": 1449, "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 until it is fully fitted."}
+{"subtask_index": 1450, "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 any movement."}
+{"subtask_index": 1451, "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 in front of the wooden peg base."}
+{"subtask_index": 1452, "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 and adjusts fingers to form a stable grasp."}
+{"subtask_index": 1453, "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 observable movement."}
+{"subtask_index": 1454, "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 pillar on the wooden base."}
+{"subtask_index": 1455, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple pillar by aligning its central hole to the pillar."}
+{"subtask_index": 1456, "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 purple pillar until it is stably supported."}
+{"subtask_index": 1457, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from the block."}
+{"subtask_index": 1458, "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 post of the wooden base."}
+{"subtask_index": 1459, "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 square block on the table surface."}
+{"subtask_index": 1460, "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 square block on the table surface."}
+{"subtask_index": 1461, "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": 1462, "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": 1463, "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 cylindrical block placed on the black tabletop."}
+{"subtask_index": 1464, "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 cylindrical block on the black tabletop."}
+{"subtask_index": 1465, "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 base with stacked blocks."}
+{"subtask_index": 1466, "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 target post on the wooden base and inserts it onto the post."}
+{"subtask_index": 1467, "subtask": "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."}
+{"subtask_index": 1468, "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 post of the wooden base without moving."}
+{"subtask_index": 1469, "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 peg on the wooden base."}
+{"subtask_index": 1470, "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 upper white hexagonal block on the right side of the table."}
+{"subtask_index": 1471, "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 upper white hexagonal block on the table."}
+{"subtask_index": 1472, "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 off the tabletop and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1473, "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 cylinder onto the purple rod on the wooden base."}
+{"subtask_index": 1474, "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": 1475, "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 on the wooden base."}
+{"subtask_index": 1476, "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": 1477, "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": 1478, "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 rack with stacked blocks."}
+{"subtask_index": 1479, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white cylindrical block onto the purple rod on the wooden rack."}
+{"subtask_index": 1480, "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 after it is properly fitted on the purple rod."}
+{"subtask_index": 1481, "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 placed on the dark table surface."}
+{"subtask_index": 1482, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the dark table surface."}
+{"subtask_index": 1483, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}
+{"subtask_index": 1484, "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 white bottle on the wooden rack."}
+{"subtask_index": 1485, "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 on the wooden rack."}
+{"subtask_index": 1486, "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 top of the white bottle to fix it in place."}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/tasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3606c7d62df09a7ba7d1d3b13ec5cfb5e44fa63
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: TicTacToe"}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/v40_validation.json b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a93517157fc456e37459e117f6fc9b94236dda5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 25,
+  "frames": 81599,
+  "video_frames": {
+    "observation.images.head_left": 81599,
+    "observation.images.wrist_left": 81599,
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