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| Right hand: grasp: Right hand makes contact with the top paper filter on the stack, adjusts finger positions repeatedly, and closes fingers to pinch the filter and establish a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: lift: Right hand holds the pinched paper filter and moves upward to lift the filter completely off the underlying paper filter stack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: reach: Left hand moves horizontally rightward from its initial raised position toward the coffee filter carried by the right hand. | Right hand: lift: Right hand holds the pinched paper filter and moves upward to lift the filter completely off the underlying paper filter stack."}, {"label": "goal", "start_step": 1160, "end_step": 2004, "id": "e06b7c8c-4cce-4eba-abdd-77a9ea7969b2"}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: reach: Left hand moves horizontally rightward from its initial raised position toward the coffee filter carried by the right hand. | Right hand: transport: Right hand carries the lifted coffee filter horizontally leftward across the table toward the waiting left hand."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: grasp: Left hand closes its gripper fingers around the coffee filter presented by the right hand, adjusting finger positions to form a secure grip on the paper. | Right hand: transport: Right hand carries the lifted coffee filter horizontally leftward across the table toward the waiting left hand."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand closes its gripper fingers around the coffee filter presented by the right hand, adjusting finger positions to form a secure grip on the paper. | Right hand: release: Right hand opens its gripper fingers to release the coffee filter, allowing the left hand to take hold of it."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the filter transfer position after releasing the paper to the left hand."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: reach: Right hand moves empty leftward and downward from its retreated position toward the exposed edge of the filter held by the left hand."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: grasp: Right hand closes its gripper fingers around the edge of the coffee filter, adjusting contact points to form a stable grip on the paper."}, {"label": "subtasks", "start_step": 1388, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: unfold: Right hand pulls and adjusts the gripped edge of the folded coffee filter to separate its paper layers, rotating the filter slightly to begin opening its shape."}, {"label": "subtasks", "start_step": 1508, "end_step": 1521, "id": "reasoning-language-00038", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: release: Right hand opens its gripper fingers to release the currently gripped edge of the coffee filter."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: reach: Right hand moves empty a short distance to a different edge of the folded coffee filter, positioning its fingers to grip the new target point."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: grasp: Right hand closes its gripper fingers around the new edge of the coffee filter, adjusting its hold to establish a stable grip on the paper."}, {"label": "subtasks", "start_step": 1605, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: unfold: Right hand manipulates the gripped edge of the coffee filter, pulling layers apart and inserting fingers into the opening to shape the paper into an open conical form, with small grip adjustments as needed."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: return_home: Left hand moves empty from the area near the paper filter back to the resting position on the left side of the workspace. | Right hand: grasp: Right hand adjusts its grip on the brown paper filter, with fingers slightly shifting to secure the filter stably."}, {"label": "goal", "start_step": 2005, "end_step": 2069, "id": "99031a3e-12e7-487b-af33-ff0c566ba6ae"}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves empty from the area near the paper filter back to the resting position on the left side of the workspace. | Right hand: transport: Right hand carries the secured brown paper filter through the air, moving it to a position directly above the glass coffee dripper."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the secured brown paper filter through the air, moving it to a position directly above the glass coffee dripper."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place: Right hand lowers the brown paper filter downward, setting it into the glass coffee dripper until 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lowers the yellow ring vertically down onto the rim of the clear glass pitcher, until the ring is fully supported by the pitcher's rim. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand makes small adjustments to its finger positions against the yellow ring to ensure the ring is stably seated on the pitcher's rim. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the yellow ring in a fixed position on the clear glass pitcher's rim, with no visible movement of the hand, fingers, or ring. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand moves toward the conical glass dripper on the left side of the black table surface, fingers extended, holding no object, until it is positioned close to the dripper. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand makes contact with the conical glass dripper, closes fingers around the dripper, and makes small finger adjustments to form a grip on the object. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: lift: Left hand holds the transparent glass dripper and lifts it completely off the black table surface. | Right hand: reach: Right hand stays empty and moves from the upper right position toward the transparent glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: transport: Left hand carries the lifted transparent glass dripper horizontally toward the waiting right hand. | Right hand: reach: Right hand stays empty and moves from the upper right position toward the transparent glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the transparent glass dripper steadily above the table without moving. | Right hand: reach: Right hand stays empty and moves from the upper right position toward the transparent glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the transparent glass dripper steadily above the table without moving. | Right hand: idle: Right hand remains empty and stationary next to the transparent glass dripper without contacting the object."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the transparent glass dripper steadily above the table without moving. | Right hand: grasp: Right hand moves forward to contact the transparent glass dripper, closes fingers around the object to form a stable grasp."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens all fingers to release the transparent glass dripper, fully separating from the object. | Right hand: grasp: Right hand moves forward to contact the transparent glass dripper, closes fingers around the object to form a stable grasp."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: transport: Right hand carries the grasped transparent glass dripper downward to the position directly above the wooden ring on the glass pot."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: mate: Right hand aligns the bottom of the transparent glass dripper with the opening of the wooden ring, inserting the dripper into the ring to form an assembled fit."}, {"label": "subtasks", "start_step": 795, "end_step": 847, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: place_release: Right hand holds the ribbed glass filter, moves it downward to seat it securely in the wooden ring on the glass pitcher, and opens fingers to release contact with the filter."}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: reach: Right hand moves empty from the area above the seated glass filter toward the stack of light brown paper filters on the right side of the black table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: grasp: Right hand makes contact with the top paper filter on the stack, adjusts finger positions repeatedly, and closes fingers to pinch the filter and establish a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: lift: Right hand holds the pinched paper filter and moves upward to lift the filter completely off the underlying paper filter stack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: reach: Left hand moves horizontally rightward from its initial raised position toward the coffee filter carried by the right hand. | Right hand: lift: Right hand holds the pinched paper filter and moves upward to lift the filter completely off the underlying paper filter stack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: reach: Left hand moves horizontally rightward from its initial raised position toward the coffee filter carried by the right hand. | Right hand: transport: Right hand carries the lifted coffee filter horizontally leftward across the table toward the waiting left hand."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: grasp: Left hand closes its gripper fingers around the coffee filter presented by the right hand, adjusting finger positions to form a secure grip on the paper. | Right hand: transport: Right hand carries the lifted coffee filter horizontally leftward across the table toward the waiting left hand."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand closes its gripper fingers around the coffee filter presented by the right hand, adjusting finger positions to form a secure grip on the paper. | Right hand: release: Right hand opens its gripper fingers to release the coffee filter, allowing the left hand to take hold of it."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the filter transfer position after releasing the paper to the left hand."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: reach: Right hand moves empty leftward and downward from its retreated position toward the exposed edge of the filter held by the left hand."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: grasp: Right hand closes its gripper fingers around the edge of the coffee filter, adjusting contact points to form a stable grip on the paper."}, {"label": "subtasks", "start_step": 1388, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: unfold: Right hand pulls and adjusts the gripped edge of the folded coffee filter to separate its paper layers, rotating the filter slightly to begin opening its shape."}, {"label": "subtasks", "start_step": 1508, "end_step": 1521, "id": "reasoning-language-00038", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: release: Right hand opens its gripper fingers to release the currently gripped edge of the coffee filter."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: reach: Right hand moves empty a short distance to a different edge of the folded coffee filter, positioning its fingers to grip the new target point."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: grasp: Right hand closes its gripper fingers around the new edge of the coffee filter, adjusting its hold to establish a stable grip on the paper."}, {"label": "subtasks", "start_step": 1605, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: unfold: Right hand manipulates the gripped edge of the coffee filter, pulling layers apart and inserting fingers into the opening to shape the paper into an open conical form, with small grip adjustments as needed."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: return_home: Left hand moves empty from the area near the paper filter back to the resting position on the left side of the workspace. | Right hand: grasp: Right hand adjusts its grip on the brown paper filter, with fingers slightly shifting to secure the filter stably."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves empty from the area near the paper filter back to the resting position on the left side of the workspace. | Right hand: transport: Right hand carries the secured brown paper filter through the air, moving it to a position directly above the glass coffee dripper."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the secured brown paper filter through the air, moving it to a position directly above the glass coffee dripper."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place: Right hand lowers the brown paper filter downward, setting it into the glass coffee dripper until the filter rests stably on the dripper."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the brown paper filter seated in the glass coffee dripper without any observable movement."}, {"label": "subtasks", "start_step": 2160, "end_step": 2294, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: other:adjust_filter_paper: Right hand moves fingers inside the paper filter placed on the glass dripper, adjusting the filter to spread and conform to the inner dripper walls with subtle finger movements."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: press: Right hand presses the central bottom area of the paper filter downward against the dripper to flatten and secure the filter base."}, {"label": "subtasks", "start_step": 2355, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: other:adjust_filter_paper: Right hand moves fingers along the inner walls of the paper filter to fine-tune the fit of the filter against the dripper."}], "episode_index": 0}
+{"source_uid": "dd39a20b23d2cfff", "num_frames": 2594, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 on the left side of the workspace without any observable movement throughout the segment. | Right hand: reach: Right hand moves from its initial right-side resting position downward toward the clear glass pitcher placed on the black table surface, staying empty as it approaches the target object."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "abaf35c9-6605-4535-b683-0579b7e89f29"}, {"label": "valid", "start_step": 0, "end_step": 2444, "id": "A6gAkC-QWESsM3cDi1xks"}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: grasp: Right hand positions its fingers around the handle of the clear glass pitcher, closing fingers and making small adjustments to establish a firm grip on the pitcher."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: hold: Right hand holds the clear glass pitcher steadily on the black table surface without observable movement of the hand, fingers or the pitcher."}, {"label": "subtasks", "start_step": 135, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: place: Right hand holds the clear glass container, moves it diagonally leftward and downward while rotating it slightly to an upright orientation, and sets it stably on the black table surface."}, {"label": "goal", "start_step": 147, "end_step": 217, "id": "40884c0d-55ff-4a42-a780-21133fe6801b"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: hold: Right hand holds the clear glass container resting stably on the black table surface, with no observable movement of the hand, fingers or container."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves downward and rightward from its initial upper left position toward the yellow ring-shaped tape on the black table surface, with an empty hand. | Right hand: release: Right hand releases the handle of the clear glass pitcher on the black table, with fingers opening to separate from the pitcher."}, {"label": "goal", "start_step": 218, "end_step": 362, "id": "b59b92ab-de1c-49c4-88bb-a9b6041e481b"}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves downward and rightward from its initial upper left position toward the yellow ring-shaped tape on the black table surface, with an empty hand. | Right hand: retreat: Right hand moves upward and rightward through midair, retreating from the glass pitcher position with an empty hand."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes its fingers around the yellow ring-shaped tape, making slight finger position adjustments to establish a stable grip on the tape. | Right hand: retreat: Right hand moves upward and rightward through midair, retreating from the glass pitcher position with an empty hand."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes its fingers around the yellow ring-shaped tape, making slight finger position adjustments to establish a stable grip on the tape. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow ring-shaped tape on the black table surface without moving, maintaining a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: transport_place: Left hand holds the yellow ring-shaped object, moves it down and to the right toward the glass pitcher, and lowers it to rest stably on the pitcher's rim. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "goal", "start_step": 363, "end_step": 467, "id": "7404a5fc-518b-49d7-a597-4f9e785f4b9f"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object resting on the glass pitcher rim without observable movement. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: place_release: Left hand positions the light brown wooden ring onto the opening of the clear glass pitcher and breaks contact with the ring. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "goal", "start_step": 468, "end_step": 607, "id": "674fca4d-b4bb-4384-852c-0ed365993f16"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: retreat: Left hand moves empty upward and backward away from the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: reach: Left hand moves empty downward toward the conical ribbed glass filter on the black table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: grasp: Left hand closes fingers around the conical ribbed glass filter, making small finger adjustments to establish a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: lift: Left hand grips the clear fluted glass dripper and lifts it upward, raising it completely off the black table surface. | Right hand: reach: Right hand moves left through the air toward the clear fluted glass dripper held by the left hand, remaining empty as it approaches the target."}, {"label": "goal", "start_step": 608, "end_step": 782, "id": "5cb2c9fe-6757-4d88-b8c4-1f767003fc84"}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: transport: Left hand carries the clear fluted glass dripper upward and slightly toward the right hand to the mid-air handoff position. | Right hand: reach: Right hand moves left through the air toward the clear fluted glass dripper held by the left hand, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 675, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper stationary in mid-air, maintaining a stable grip as the right hand approaches to take the dripper. | Right hand: reach: Right hand moves left through the air toward the clear fluted glass dripper held by the left hand, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper stationary in mid-air, maintaining a stable grip as the right hand approaches to take the dripper. | Right hand: grasp: Right hand closes its fingers around the clear fluted glass dripper, adjusting finger positions to form a stable grip on the dripper."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand opens its fingers to release the clear fluted glass dripper, breaking contact with the dripper. | Right hand: transport: Right hand carries the clear fluted glass dripper downward and slightly right, moving it directly over the opening of the glass carafe topped with a light wooden ring."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: transport: Right hand carries the clear fluted glass dripper downward and slightly right, moving it directly over the opening of the glass carafe topped with a light wooden ring."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: place: Right hand lowers the clear fluted glass dripper into the opening of the glass carafe, seating the dripper on the wooden ring so it is supported by the carafe."}, {"label": "goal", "start_step": 783, "end_step": 832, "id": "cba9cbae-29f3-4137-aab1-c6b5e79b7e5e"}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: place_release: Right hand holds the glass dripper, moves it downward to place it onto the wooden ring atop the glass carafe until the dripper is stably supported, opens the gripper to release contact with the dripper."}, {"label": "goal", "start_step": 833, "end_step": 1182, "id": "f37d83c3-ef0b-4fff-8a31-bfd8204de343"}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: reach: Right hand moves empty horizontally to the right across the table, approaching the stack of light brown paper filters."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: grasp_release: Right hand adjusts finger positions on the top paper filter with slight opening and closing movements to attempt a grasp, releases contact with the filter without lifting it."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: reach: Right hand moves empty slightly downward and adjusts position, re-approaching the top paper filter on the stack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: grasp: Right hand makes slight finger adjustments and closes the gripper to form a stable grasp on the top paper filter, while the filter remains resting on the stack below."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: lift: Right hand holds the grasped paper filter and moves it upward, lifting the filter completely off the underlying stack of filters."}, {"label": "goal", "start_step": 1183, "end_step": 1857, "id": "6548f293-6d51-43fe-adaf-f5d428d62add"}, {"label": "subtasks", "start_step": 1200, "end_step": 1371, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: transport: Right hand carries the lifted paper filter and moves it horizontally leftward to the position directly in front of the left hand."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: reach: Left hand moves slightly toward the incoming paper filter, approaching the filter surface with an open hand. | Right hand: transport: Right hand carries the lifted paper filter and moves it horizontally leftward to the position directly in front of the left hand."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: reach: Left hand moves slightly toward the incoming paper filter, approaching the filter surface with an open hand. | Right hand: release: Right hand opens its fingers to release the paper filter, fully separating from the filter surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand makes contact with the paper filter, closes fingers and adjusts finger positions repeatedly to secure a stable hold on the filter edge. | Right hand: reach: Right hand moves empty downward and leftward toward the paper filter now held by the left hand, approaching the filter's edge."}, {"label": "subtasks", "start_step": 1455, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: grasp: Left hand makes contact with the paper filter, closes fingers and adjusts finger positions repeatedly to secure a stable hold on the filter edge. | Right hand: grasp: Right hand makes contact with the free edge of the paper filter, closes fingers and adjusts contact positions repeatedly to establish a stable hold."}, {"label": "subtasks", "start_step": 1620, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand holds one edge of the paper filter and adjusts its position slightly to fold the flexible filter into a conical shape in coordination with the right hand. | Right hand: fold: Right hand holds one edge of the paper filter and adjusts its position slightly to fold the flexible filter into a conical shape in coordination with the left hand."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: reorient: Left hand holds the yellow conical paper filter, squeezes the filter to change its shape from an open cone to a flat shape with minor finger adjustments. | Right hand: reorient: Right hand holds the yellow conical paper filter, squeezes the filter to change its shape from an open cone to a flat shape with minor finger adjustments."}, {"label": "goal", "start_step": 1858, "end_step": 2032, "id": "30dba552-cddb-4df6-8369-7d2d89c3e0ec"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00037", "text": "Left hand: hold_release: Left hand holds the flattened yellow paper filter without moving, opens its fingers to release the filter and separate from the filter. | Right hand: hold: Right hand holds the flattened yellow paper filter without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1971, "id": "reasoning-language-00038", "text": "Left hand: hold_release: Left hand holds the flattened yellow paper filter without moving, opens its fingers to release the filter and separate from the filter. | Right hand: grasp: Right hand adjusts its finger positions to stabilize its grip on the yellow paper filter, with slight upward movement of the filter."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions to stabilize its grip on the yellow paper filter, with slight upward movement of the filter."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the gripped yellow paper filter, moving it upward and toward the glass dripper below."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the yellow paper filter toward the glass dripper, placing the filter onto the dripper opening until it is supported by the dripper rim."}, {"label": "subtasks", "start_step": 2025, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand holds the cone-shaped paper filter, slightly rotates the wrist to adjust the filter's orientation, moves downward to nest the filter into the glass dripper positioned above the clear glass container."}, {"label": "goal", "start_step": 2033, "end_step": 2192, "id": "a36d10e6-fa47-4153-ab3a-9cb557807a7d"}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the paper filter nested inside the glass dripper without observable movement or hand shape adjustment."}, {"label": "goal", "start_step": 2193, "end_step": 2232, "id": "feafae35-a358-4b1f-9ac2-f3e26d52bd37"}, {"label": "home", "start_step": 2445, "end_step": 2593, "id": "pUWOdhDZDmMol1cn3LzNv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: reach: Right hand moves from its initial right-side resting position downward toward the clear glass pitcher placed on the black table surface, staying empty as it approaches the target object."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: grasp: Right hand positions its fingers around the handle of the clear glass pitcher, closing fingers and making small adjustments to establish a firm grip on the pitcher."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: hold: Right hand holds the clear glass pitcher steadily on the black table surface without observable movement of the hand, fingers or the pitcher."}, {"label": "subtasks", "start_step": 135, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: place: Right hand holds the clear glass container, moves it diagonally leftward and downward while rotating it slightly to an upright orientation, and sets it stably on the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: hold: Right hand holds the clear glass container resting stably on the black table surface, with no observable movement of the hand, fingers or container."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves downward and rightward from its initial upper left position toward the yellow ring-shaped tape on the black table surface, with an empty hand. | Right hand: release: Right hand releases the handle of the clear glass pitcher on the black table, with fingers opening to separate from the pitcher."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves downward and rightward from its initial upper left position toward the yellow ring-shaped tape on the black table surface, with an empty hand. | Right hand: retreat: Right hand moves upward and rightward through midair, retreating from the glass pitcher position with an empty hand."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes its fingers around the yellow ring-shaped tape, making slight finger position adjustments to establish a stable grip on the tape. | Right hand: retreat: Right hand moves upward and rightward through midair, retreating from the glass pitcher position with an empty hand."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes its fingers around the yellow ring-shaped tape, making slight finger position adjustments to establish a stable grip on the tape. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow ring-shaped tape on the black table surface without moving, maintaining a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: transport_place: Left hand holds the yellow ring-shaped object, moves it down and to the right toward the glass pitcher, and lowers it to rest stably on the pitcher's rim. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object resting on the glass pitcher rim without observable movement. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: place_release: Left hand positions the light brown wooden ring onto the opening of the clear glass pitcher and breaks contact with the ring. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: retreat: Left hand moves empty upward and backward away from the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: reach: Left hand moves empty downward toward the conical ribbed glass filter on the black table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: grasp: Left hand closes fingers around the conical ribbed glass filter, making small finger adjustments to establish a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: lift: Left hand grips the clear fluted glass dripper and lifts it upward, raising it completely off the black table surface. | Right hand: reach: Right hand moves left through the air toward the clear fluted glass dripper held by the left hand, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: transport: Left hand carries the clear fluted glass dripper upward and slightly toward the right hand to the mid-air handoff position. | Right hand: reach: Right hand moves left through the air toward the clear fluted glass dripper held by the left hand, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 675, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper stationary in mid-air, maintaining a stable grip as the right hand approaches to take the dripper. | Right hand: reach: Right hand moves left through the air toward the clear fluted glass dripper held by the left hand, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper stationary in mid-air, maintaining a stable grip as the right hand approaches to take the dripper. | Right hand: grasp: Right hand closes its fingers around the clear fluted glass dripper, adjusting finger positions to form a stable grip on the dripper."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand opens its fingers to release the clear fluted glass dripper, breaking contact with the dripper. | Right hand: transport: Right hand carries the clear fluted glass dripper downward and slightly right, moving it directly over the opening of the glass carafe topped with a light wooden ring."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: transport: Right hand carries the clear fluted glass dripper downward and slightly right, moving it directly over the opening of the glass carafe topped with a light wooden ring."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: place: Right hand lowers the clear fluted glass dripper into the opening of the glass carafe, seating the dripper on the wooden ring so it is supported by the carafe."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: place_release: Right hand holds the glass dripper, moves it downward to place it onto the wooden ring atop the glass carafe until the dripper is stably supported, opens the gripper to release contact with the dripper."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: reach: Right hand moves empty horizontally to the right across the table, approaching the stack of light brown paper filters."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: grasp_release: Right hand adjusts finger positions on the top paper filter with slight opening and closing movements to attempt a grasp, releases contact with the filter without lifting it."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: reach: Right hand moves empty slightly downward and adjusts position, re-approaching the top paper filter on the stack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: grasp: Right hand makes slight finger adjustments and closes the gripper to form a stable grasp on the top paper filter, while the filter remains resting on the stack below."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: lift: Right hand holds the grasped paper filter and moves it upward, lifting the filter completely off the underlying stack of filters."}, {"label": "subtasks", "start_step": 1200, "end_step": 1371, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: transport: Right hand carries the lifted paper filter and moves it horizontally leftward to the position directly in front of the left hand."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: reach: Left hand moves slightly toward the incoming paper filter, approaching the filter surface with an open hand. | Right hand: transport: Right hand carries the lifted paper filter and moves it horizontally leftward to the position directly in front of the left hand."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: reach: Left hand moves slightly toward the incoming paper filter, approaching the filter surface with an open hand. | Right hand: release: Right hand opens its fingers to release the paper filter, fully separating from the filter surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand makes contact with the paper filter, closes fingers and adjusts finger positions repeatedly to secure a stable hold on the filter edge. | Right hand: reach: Right hand moves empty downward and leftward toward the paper filter now held by the left hand, approaching the filter's edge."}, {"label": "subtasks", "start_step": 1455, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: grasp: Left hand makes contact with the paper filter, closes fingers and adjusts finger positions repeatedly to secure a stable hold on the filter edge. | Right hand: grasp: Right hand makes contact with the free edge of the paper filter, closes fingers and adjusts contact positions repeatedly to establish a stable hold."}, {"label": "subtasks", "start_step": 1620, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand holds one edge of the paper filter and adjusts its position slightly to fold the flexible filter into a conical shape in coordination with the right hand. | Right hand: fold: Right hand holds one edge of the paper filter and adjusts its position slightly to fold the flexible filter into a conical shape in coordination with the left hand."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: reorient: Left hand holds the yellow conical paper filter, squeezes the filter to change its shape from an open cone to a flat shape with minor finger adjustments. | Right hand: reorient: Right hand holds the yellow conical paper filter, squeezes the filter to change its shape from an open cone to a flat shape with minor finger adjustments."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00037", "text": "Left hand: hold_release: Left hand holds the flattened yellow paper filter without moving, opens its fingers to release the filter and separate from the filter. | Right hand: hold: Right hand holds the flattened yellow paper filter without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1971, "id": "reasoning-language-00038", "text": "Left hand: hold_release: Left hand holds the flattened yellow paper filter without moving, opens its fingers to release the filter and separate from the filter. | Right hand: grasp: Right hand adjusts its finger positions to stabilize its grip on the yellow paper filter, with slight upward movement of the filter."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions to stabilize its grip on the yellow paper filter, with slight upward movement of the filter."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the gripped yellow paper filter, moving it upward and toward the glass dripper below."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the yellow paper filter toward the glass dripper, placing the filter onto the dripper opening until it is supported by the dripper rim."}, {"label": "subtasks", "start_step": 2025, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand holds the cone-shaped paper filter, slightly rotates the wrist to adjust the filter's orientation, moves downward to nest the filter into the glass dripper positioned above the clear glass container."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the paper filter nested inside the glass dripper without observable movement or hand shape adjustment."}], "episode_index": 1}
+{"source_uid": "17168689d3f8feb9", "num_frames": 2455, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 black table without obvious movement. | Right hand: reach: Right hand moves toward the transparent glass pitcher placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "8600d3df-9bab-4e4d-af60-e1b2500dc85a"}, {"label": "valid", "start_step": 0, "end_step": 2305, "id": "6iv5FvtidBLhX97O-K0kH"}, {"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 black table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the transparent glass pitcher, adjusting the grip to form a stable hold."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: lift: Right hand lifts the transparent glass pitcher upward, making it completely leave the black table surface."}, {"label": "goal", "start_step": 141, "end_step": 215, "id": "52db376a-4a6b-48ce-ae76-976e03537262"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: transport: Right hand transports the transparent glass jar forward above the black table."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: place: Right hand places the transparent glass jar onto the black table surface until it is stably supported."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: release: Right hand releases the transparent glass jar, with fingers opening to separate from the jar."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves toward the yellow circular ring placed on the black table. | Right hand: retreat: Right hand retreats upward and away from the glass pitcher on the black table."}, {"label": "goal", "start_step": 216, "end_step": 355, "id": "06d2a733-4643-4e8c-889e-bc55579b48c6"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves toward the yellow circular ring placed on the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand adjusts its fingers to form a stable grasp on the yellow circular ring. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow circular ring on the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand adjusts the grip on the yellow ring-shaped object on the black tabletop. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "goal", "start_step": 356, "end_step": 475, "id": "c73b58fc-4251-4ba2-8a8f-1dd6f5772afd"}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: lift_transport: Left hand lifts the yellow ring-shaped object from the tabletop and transports it towards the glass pitcher on the right side of the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand places the yellow ring-shaped object onto the opening of the glass pitcher and adjusts it to stay stable. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "goal", "start_step": 476, "end_step": 615, "id": "1dd33bb4-74c4-42ad-8f7f-205cbe7f674a"}, {"label": "subtasks", "start_step": 502, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves towards the glass funnel placed on the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand closes its fingers to grasp the glass funnel on the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand lifts the glass funnel up from the table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: transport: Left hand transports the transparent glass funnel to the middle area of the black table, rotating the funnel slightly. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "goal", "start_step": 616, "end_step": 785, "id": "f5bcb6f8-e44a-4390-a105-a9d3541325a7"}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving. | Right hand: grasp: Right hand closes its fingers to grasp the transparent glass funnel, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: release: Left hand opens its fingers to release the transparent glass funnel. | Right hand: grasp: Right hand closes its fingers to grasp the transparent glass funnel, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the transparent glass funnel above the glass jar with the wooden ring on the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "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 glass funnel onto the wooden ring on top of the glass jar."}, {"label": "goal", "start_step": 786, "end_step": 835, "id": "67dd569f-9f5c-4fdd-ab22-2e68f1da4863"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the stack of fan-shaped wooden covers on the table."}, {"label": "goal", "start_step": 836, "end_step": 1095, "id": "9228784a-1ea6-4301-8686-946e87625b54"}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the top wooden cover, flips it over the stack, then releases the cover."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "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 toward the top fan-shaped wooden cover on the stack."}, {"label": "subtasks", "start_step": 1020, "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: grasp: Right hand grasps the top wooden cover and adjusts the grip to stabilize the cover."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top wooden cover away from the stack on the table."}, {"label": "goal", "start_step": 1096, "end_step": 1805, "id": "3e208020-97dd-4caf-86d9-f394f151c539"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the filter paper from the black table and transports it to the position above the glass cup."}, {"label": "subtasks", "start_step": 1125, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: hold: Right hand holds the filter paper above the glass cup without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00030", "text": "Left hand: grasp: Left hand grasps the filter paper transferred from the right hand. | Right hand: release: Right hand releases the filter paper, transferring it to the left hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the filter paper without moving while the right hand approaches. | Right hand: reach_grasp: Right hand reaches towards the filter paper held by the left hand and grasps the edge of the filter paper."}, {"label": "subtasks", "start_step": 1470, "end_step": 1799, "id": "reasoning-language-00032", "text": "Left hand: fold: Left hand cooperates with right hand to fold the filter paper. | Right hand: fold: Right hand cooperates with left hand to fold the filter paper."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand holds the brown filter paper and moves it to the position above the glass container."}, {"label": "goal", "start_step": 1806, "end_step": 1870, "id": "242aeb38-33af-4f01-84f4-0c99621aae6a"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the brown filter paper slightly to adjust its orientation to fit the glass container opening."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the brown filter paper and places it onto the wooden ring on the top of the glass container."}, {"label": "goal", "start_step": 1871, "end_step": 1955, "id": "270b7584-a4db-4309-9337-92c24b31745d"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the brown filter paper, separating from the paper."}, {"label": "subtasks", "start_step": 1950, "end_step": 2249, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the brown filter paper on the top of the glass filter cup to adjust its shape and fit the inner wall of the cup."}, {"label": "goal", "start_step": 1956, "end_step": 2255, "id": "e66e90b9-5195-4de6-ad43-44dca5246ff4"}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the filter paper after finishing pressing adjustment."}, {"label": "home", "start_step": 2306, "end_step": 2454, "id": "rwPwPh7kKRJfrWcYxiCvc"}], "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 black table without obvious movement. | Right hand: reach: Right hand moves toward the transparent glass pitcher placed on the black table."}, {"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 black table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the transparent glass pitcher, adjusting the grip to form a stable hold."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: lift: Right hand lifts the transparent glass pitcher upward, making it completely leave the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: transport: Right hand transports the transparent glass jar forward above the black table."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: place: Right hand places the transparent glass jar onto the black table surface until it is stably supported."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: release: Right hand releases the transparent glass jar, with fingers opening to separate from the jar."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves toward the yellow circular ring placed on the black table. | Right hand: retreat: Right hand retreats upward and away from the glass pitcher on the black table."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves toward the yellow circular ring placed on the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand adjusts its fingers to form a stable grasp on the yellow circular ring. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow circular ring on the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand adjusts the grip on the yellow ring-shaped object on the black tabletop. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: lift_transport: Left hand lifts the yellow ring-shaped object from the tabletop and transports it towards the glass pitcher on the right side of the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand places the yellow ring-shaped object onto the opening of the glass pitcher and adjusts it to stay stable. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves towards the glass funnel placed on the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand closes its fingers to grasp the glass funnel on the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand lifts the glass funnel up from the table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: transport: Left hand transports the transparent glass funnel to the middle area of the black table, rotating the funnel slightly. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving. | Right hand: grasp: Right hand closes its fingers to grasp the transparent glass funnel, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: release: Left hand opens its fingers to release the transparent glass funnel. | Right hand: grasp: Right hand closes its fingers to grasp the transparent glass funnel, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the transparent glass funnel above the glass jar with the wooden ring on the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "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 glass funnel onto the wooden ring on top of the glass jar."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the stack of fan-shaped wooden covers on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the top wooden cover, flips it over the stack, then releases the cover."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "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 toward the top fan-shaped wooden cover on the stack."}, {"label": "subtasks", "start_step": 1020, "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: grasp: Right hand grasps the top wooden cover and adjusts the grip to stabilize the cover."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top wooden cover away from the stack on the table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the filter paper from the black table and transports it to the position above the glass cup."}, {"label": "subtasks", "start_step": 1125, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: hold: Right hand holds the filter paper above the glass cup without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00030", "text": "Left hand: grasp: Left hand grasps the filter paper transferred from the right hand. | Right hand: release: Right hand releases the filter paper, transferring it to the left hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the filter paper without moving while the right hand approaches. | Right hand: reach_grasp: Right hand reaches towards the filter paper held by the left hand and grasps the edge of the filter paper."}, {"label": "subtasks", "start_step": 1470, "end_step": 1799, "id": "reasoning-language-00032", "text": "Left hand: fold: Left hand cooperates with right hand to fold the filter paper. | Right hand: fold: Right hand cooperates with left hand to fold the filter paper."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand holds the brown filter paper and moves it to the position above the glass container."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the brown filter paper slightly to adjust its orientation to fit the glass container opening."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the brown filter paper and places it onto the wooden ring on the top of the glass container."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the brown filter paper, separating from the paper."}, {"label": "subtasks", "start_step": 1950, "end_step": 2249, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the brown filter paper on the top of the glass filter cup to adjust its shape and fit the inner wall of the cup."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the filter paper after finishing pressing adjustment."}], "episode_index": 2}
+{"source_uid": "12d780c6d2a04b10", "num_frames": 2792, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 slightly to the left home position while remaining empty. | Right hand: idle: Right hand remains empty at the right initial position above the table without any observable movement."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "8608abad-cfa9-4bf9-ae8d-061b6790e826"}, {"label": "valid", "start_step": 0, "end_step": 2643, "id": "FFZ0NeuK70LP_xXZ14LrR"}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: idle: Right hand remains empty at the right initial position above the table without any observable movement."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward and toward the transparent glass pitcher on the table with open fingers, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: grasp: Right hand contacts the transparent glass pitcher on the table, fingers close and make slight adjustments to form a stable grip on the pitcher."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the transparent glass pitcher off the right section of the black table surface."}, {"label": "goal", "start_step": 146, "end_step": 215, "id": "8bd4d938-5de4-461f-947c-f613bdd8ea6c"}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped transparent glass pitcher and moves it to the lower left area above the table."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: place: Right hand lowers the transparent glass pitcher onto the black table surface until the pitcher is stably supported by the table."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: release: Right hand releases the clear glass pitcher on the black table, fingers opening to disengage from the pitcher."}, {"label": "goal", "start_step": 216, "end_step": 390, "id": "3e43fd0d-0123-4035-b5f7-f8fb35c207b3"}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: retreat: Right hand moves upward and rightward away from the glass pitcher, retreating to the upper right area of the table."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00011", "text": "Left hand: reach: Left hand moves downward toward the yellow ring-shaped object placed left of the glass funnel on the table, approaching the target. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand makes contact with the yellow ring-shaped object, fingers closing and making small adjustments to establish a stable grip on the object. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object steadily on the table with no observable movement or grip adjustment. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: lift: Left hand holds the yellow ring-shaped object and lifts it upward until the object is fully separated from the black table surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "goal", "start_step": 391, "end_step": 555, "id": "8e645b74-3d09-4ca3-acb7-f421615d909f"}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: transport_place: Left hand carries the yellow ring-shaped object to the position directly above the transparent handled glass container, lowers the object to rest on the container's opening with support from the container. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 442, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object steadily on the opening of the transparent handled glass container without observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: release: Left hand releases the wooden ring on the glass pitcher opening, with fingers separating from the ring surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "goal", "start_step": 556, "end_step": 707, "id": "a6d636f2-7871-4881-885b-9cc6bba47552"}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: reach: Left hand moves empty from above the glass pitcher toward the fluted glass filter placed on the black table, approaching until fingertips touch the filter's top edge. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: grasp: Left hand adjusts finger positions on the top edge of the fluted glass filter, closing fingers to form a stable grasp while the filter remains on the table surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: lift: Left hand holds the fluted glass filter steadily and moves upward, starting to lift the filter from the table surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "goal", "start_step": 708, "end_step": 872, "id": "a226bc48-124a-4491-b4c8-bd3f281a1906"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand holds the lifted glass filter and moves it rightward toward the center of the table to meet the approaching right hand. | Right hand: reach: Right hand moves leftward and downward, approaching the glass filter held by the left hand without making contact at the end of the segment."}, {"label": "subtasks", "start_step": 780, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: transport: Left hand holds the lifted glass filter and moves it rightward toward the center of the table to meet the approaching right hand. | Right hand: grasp: Right hand closes its fingers around the glass filter, making small adjustments to form a stable grip on the object."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the glass filter steady in midair without moving while the right hand grips the object. | Right hand: grasp: Right hand closes its fingers around the glass filter, making small adjustments to form a stable grip on the object."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand opens its fingers to release the glass filter, fully separating from the object. | Right hand: transport: Right hand holds the glass filter and moves it downward toward the glass pitcher with a wooden ring on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: transport: Right hand holds the glass filter and moves it downward toward the glass pitcher with a wooden ring on the table."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the bottom of the glass filter and inserts it into the central hole of the wooden ring on the glass pitcher."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the ribbed glass filter, moves it downward to seat it securely on the wooden collar atop the glass carafe, and releases its grip on the filter."}, {"label": "goal", "start_step": 873, "end_step": 916, "id": "e3332188-da5d-44fa-b393-3b890f7535c0"}, {"label": "goal", "start_step": 917, "end_step": 1222, "id": "44f0048f-3b95-4833-937e-02b4682e833d"}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty toward the stack of light-colored filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the top sheet of the filter paper stack, pinching the sheet to lift it slightly from the stack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers to release the pinched filter paper sheet, allowing the sheet to fall back onto the paper stack."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward to reposition above the filter paper stack for another grasp attempt."}, {"label": "subtasks", "start_step": 1080, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions on the filter paper, closing fingers to form a stable grasp on one sheet of filter paper."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: lift: Right hand holds the grasped filter paper sheet, moves upward to lift the sheet away from the underlying stack of papers."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: reach: Left hand moves rightward with empty fingers toward the brown coffee filter held by the right hand. | Right hand: lift_transport: Right hand grips a single brown coffee filter from the stacked pile, lifts it completely off the supporting stack, then moves it horizontally leftward toward the approaching left hand."}, {"label": "goal", "start_step": 1223, "end_step": 1814, "id": "306dacf5-4345-42ea-8a8a-be3ce3443120"}, {"label": "subtasks", "start_step": 1268, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: grasp: Left hand closes fingers around the edge of the brown coffee filter, adjusting finger positions to form a secure grip on the filter as the right hand holds the opposite side. | Right hand: hold_release: Right hand holds the brown coffee filter steady in midair to allow the left hand to establish a grip, then opens its fingers to release the filter fully into the left hand's hold."}, {"label": "subtasks", "start_step": 1402, "end_step": 1439, "id": "reasoning-language-00036", "text": "Left hand: unfold: Left hand holds the edge of the brown coffee filter, making small position and orientation adjustments to cooperate with the right hand to separate the folded filter layers and open the filter into a conical shape. | Right hand: reach: Right hand moves leftward with empty fingers toward the brown coffee filter now held by the left hand."}, {"label": "subtasks", "start_step": 1440, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: unfold: Left hand holds the edge of the brown coffee filter, making small position and orientation adjustments to cooperate with the right hand to separate the folded filter layers and open the filter into a conical shape. | Right hand: unfold: Right hand makes contact with the surface of the brown coffee filter, inserts fingers between the folded filter layers, and adjusts wrist and finger positions with small rotations to separate layers and widen the filter opening."}, {"label": "subtasks", "start_step": 1815, "end_step": 1941, "id": "reasoning-language-00038", "text": "Left hand: grasp: Left hand makes continuous slight finger adjustments to secure its grasp on the yellow paper filter, maintaining contact with the filter alongside the right hand. | Right hand: reorient: Right hand grips the yellow paper filter, rotating the wrist slightly to form the filter into a conical shape with minimal overall position change."}, {"label": "goal", "start_step": 1815, "end_step": 2024, "id": "9d1d5ca3-4a23-4a09-a3ad-b5ac8bc7bc3c"}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00039", "text": "Left hand: release_retreat: Left hand opens fingers to release the yellow paper filter, retreating empty away from the operating area toward the left side of the workspace. | Right hand: reorient: Right hand grips the yellow paper filter, rotating the wrist slightly to form the filter into a conical shape with minimal overall position change."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00040", "text": "Left hand: release_retreat: Left hand opens fingers to release the yellow paper filter, retreating empty away from the operating area toward the left side of the workspace. | Right hand: transport: Right hand grips the conical yellow paper filter, moving it downward toward the glass coffee dripper placed on the table below."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: place: Right hand holds the brown paper filter, moves downward to place the filter onto the glass dripper positioned over the glass carafe, until the filter rests on the dripper rim."}, {"label": "goal", "start_step": 2025, "end_step": 2096, "id": "62fd4ee7-fab8-491b-ba0c-e7a4f7438d15"}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: hold: Right hand holds the top surface of the placed paper filter against the glass dripper without any movement or hand shape change."}, {"label": "goal", "start_step": 2097, "end_step": 2595, "id": "12bb5de5-c58a-40f4-bbfe-12d575516fcb"}, {"label": "subtasks", "start_step": 2108, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: press: Right hand rotates its wrist slightly downward and presses the center of the paper filter with its fingertip, pushing the filter down into the interior of the glass dripper."}, {"label": "subtasks", "start_step": 2235, "end_step": 2301, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: hold: Right hand holds the pressed paper filter in position inside the glass dripper without any movement or hand shape change."}, {"label": "subtasks", "start_step": 2302, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: press: Right hand rotates its wrist slightly, moves its fingertip along the inner side wall of the paper filter, and presses the filter against the inner surface of the glass dripper to shape the filter."}, {"label": "subtasks", "start_step": 2438, "end_step": 2549, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: hold: Right hand rests its fingertip inside the shaped paper filter, holding the filter in place without any movement or hand shape change."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: release: Right hand opens its fingers and withdraws its fingertip from the interior of the paper filter, releasing all contact with the filter."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: retreat: Right hand moves upward and to the right while empty, retreating away from the glass dripper assembly."}, {"label": "home", "start_step": 2644, "end_step": 2791, "id": "0i3EJZJiYN4XsidRMYWMV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves slightly to the left home position while remaining empty. | Right hand: idle: Right hand remains empty at the right initial position above the table without any observable movement."}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: idle: Right hand remains empty at the right initial position above the table without any observable movement."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward and toward the transparent glass pitcher on the table with open fingers, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: grasp: Right hand contacts the transparent glass pitcher on the table, fingers close and make slight adjustments to form a stable grip on the pitcher."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the transparent glass pitcher off the right section of the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped transparent glass pitcher and moves it to the lower left area above the table."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: place: Right hand lowers the transparent glass pitcher onto the black table surface until the pitcher is stably supported by the table."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: release: Right hand releases the clear glass pitcher on the black table, fingers opening to disengage from the pitcher."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: retreat: Right hand moves upward and rightward away from the glass pitcher, retreating to the upper right area of the table."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00011", "text": "Left hand: reach: Left hand moves downward toward the yellow ring-shaped object placed left of the glass funnel on the table, approaching the target. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand makes contact with the yellow ring-shaped object, fingers closing and making small adjustments to establish a stable grip on the object. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object steadily on the table with no observable movement or grip adjustment. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: lift: Left hand holds the yellow ring-shaped object and lifts it upward until the object is fully separated from the black table surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: transport_place: Left hand carries the yellow ring-shaped object to the position directly above the transparent handled glass container, lowers the object to rest on the container's opening with support from the container. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 442, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object steadily on the opening of the transparent handled glass container without observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: release: Left hand releases the wooden ring on the glass pitcher opening, with fingers separating from the ring surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: reach: Left hand moves empty from above the glass pitcher toward the fluted glass filter placed on the black table, approaching until fingertips touch the filter's top edge. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: grasp: Left hand adjusts finger positions on the top edge of the fluted glass filter, closing fingers to form a stable grasp while the filter remains on the table surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: lift: Left hand holds the fluted glass filter steadily and moves upward, starting to lift the filter from the table surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand holds the lifted glass filter and moves it rightward toward the center of the table to meet the approaching right hand. | Right hand: reach: Right hand moves leftward and downward, approaching the glass filter held by the left hand without making contact at the end of the segment."}, {"label": "subtasks", "start_step": 780, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: transport: Left hand holds the lifted glass filter and moves it rightward toward the center of the table to meet the approaching right hand. | Right hand: grasp: Right hand closes its fingers around the glass filter, making small adjustments to form a stable grip on the object."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the glass filter steady in midair without moving while the right hand grips the object. | Right hand: grasp: Right hand closes its fingers around the glass filter, making small adjustments to form a stable grip on the object."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand opens its fingers to release the glass filter, fully separating from the object. | Right hand: transport: Right hand holds the glass filter and moves it downward toward the glass pitcher with a wooden ring on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: transport: Right hand holds the glass filter and moves it downward toward the glass pitcher with a wooden ring on the table."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the bottom of the glass filter and inserts it into the central hole of the wooden ring on the glass pitcher."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the ribbed glass filter, moves it downward to seat it securely on the wooden collar atop the glass carafe, and releases its grip on the filter."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty toward the stack of light-colored filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the top sheet of the filter paper stack, pinching the sheet to lift it slightly from the stack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers to release the pinched filter paper sheet, allowing the sheet to fall back onto the paper stack."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward to reposition above the filter paper stack for another grasp attempt."}, {"label": "subtasks", "start_step": 1080, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions on the filter paper, closing fingers to form a stable grasp on one sheet of filter paper."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: lift: Right hand holds the grasped filter paper sheet, moves upward to lift the sheet away from the underlying stack of papers."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: reach: Left hand moves rightward with empty fingers toward the brown coffee filter held by the right hand. | Right hand: lift_transport: Right hand grips a single brown coffee filter from the stacked pile, lifts it completely off the supporting stack, then moves it horizontally leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 1268, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: grasp: Left hand closes fingers around the edge of the brown coffee filter, adjusting finger positions to form a secure grip on the filter as the right hand holds the opposite side. | Right hand: hold_release: Right hand holds the brown coffee filter steady in midair to allow the left hand to establish a grip, then opens its fingers to release the filter fully into the left hand's hold."}, {"label": "subtasks", "start_step": 1402, "end_step": 1439, "id": "reasoning-language-00036", "text": "Left hand: unfold: Left hand holds the edge of the brown coffee filter, making small position and orientation adjustments to cooperate with the right hand to separate the folded filter layers and open the filter into a conical shape. | Right hand: reach: Right hand moves leftward with empty fingers toward the brown coffee filter now held by the left hand."}, {"label": "subtasks", "start_step": 1440, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: unfold: Left hand holds the edge of the brown coffee filter, making small position and orientation adjustments to cooperate with the right hand to separate the folded filter layers and open the filter into a conical shape. | Right hand: unfold: Right hand makes contact with the surface of the brown coffee filter, inserts fingers between the folded filter layers, and adjusts wrist and finger positions with small rotations to separate layers and widen the filter opening."}, {"label": "subtasks", "start_step": 1815, "end_step": 1941, "id": "reasoning-language-00038", "text": "Left hand: grasp: Left hand makes continuous slight finger adjustments to secure its grasp on the yellow paper filter, maintaining contact with the filter alongside the right hand. | Right hand: reorient: Right hand grips the yellow paper filter, rotating the wrist slightly to form the filter into a conical shape with minimal overall position change."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00039", "text": "Left hand: release_retreat: Left hand opens fingers to release the yellow paper filter, retreating empty away from the operating area toward the left side of the workspace. | Right hand: reorient: Right hand grips the yellow paper filter, rotating the wrist slightly to form the filter into a conical shape with minimal overall position change."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00040", "text": "Left hand: release_retreat: Left hand opens fingers to release the yellow paper filter, retreating empty away from the operating area toward the left side of the workspace. | Right hand: transport: Right hand grips the conical yellow paper filter, moving it downward toward the glass coffee dripper placed on the table below."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: place: Right hand holds the brown paper filter, moves downward to place the filter onto the glass dripper positioned over the glass carafe, until the filter rests on the dripper rim."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: hold: Right hand holds the top surface of the placed paper filter against the glass dripper without any movement or hand shape change."}, {"label": "subtasks", "start_step": 2108, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: press: Right hand rotates its wrist slightly downward and presses the center of the paper filter with its fingertip, pushing the filter down into the interior of the glass dripper."}, {"label": "subtasks", "start_step": 2235, "end_step": 2301, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: hold: Right hand holds the pressed paper filter in position inside the glass dripper without any movement or hand shape change."}, {"label": "subtasks", "start_step": 2302, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: press: Right hand rotates its wrist slightly, moves its fingertip along the inner side wall of the paper filter, and presses the filter against the inner surface of the glass dripper to shape the filter."}, {"label": "subtasks", "start_step": 2438, "end_step": 2549, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: hold: Right hand rests its fingertip inside the shaped paper filter, holding the filter in place without any movement or hand shape change."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: release: Right hand opens its fingers and withdraws its fingertip from the interior of the paper filter, releasing all contact with the filter."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: retreat: Right hand moves upward and to the right while empty, retreating away from the glass dripper assembly."}], "episode_index": 3}
+{"source_uid": "0c7373205ae5f33b", "num_frames": 2688, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 black table without moving. | Right hand: reach: Right hand moves toward the glass pitcher on the black table from the right side."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "aab8290f-7c11-4094-8574-f0caa9125fcd"}, {"label": "valid", "start_step": 0, "end_step": 2539, "id": "unPhbwvbcQIvAqFjrNRZ8"}, {"label": "subtasks", "start_step": 68, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the glass pitcher on the black table and adjusts the grip slightly."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the glass pitcher upward away from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand moves downward to place the transparent glass pot on the black table surface."}, {"label": "goal", "start_step": 136, "end_step": 219, "id": "6c5242c1-539f-4d9d-8138-9cbf7c80ac2b"}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the transparent glass pot on the black table without moving."}, {"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 black table without moving. | Right hand: release: Right hand releases the small glass cup inside the glass pitcher, with fingers opening to release the grip."}, {"label": "goal", "start_step": 220, "end_step": 366, "id": "2ff2844c-c550-40f7-a17b-d6f885f2ecf7"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the glass pitcher, keeping empty."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: reach: Left hand moves downward toward the yellow circular ring on the black table, keeping empty. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand grasps the yellow circular ring on the black table, with fingers closing to adjust the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the yellow circular ring on the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand grasps the yellow ring on the black table, adjusting fingers to form a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "goal", "start_step": 367, "end_step": 510, "id": "b07977fb-16e9-493d-a5bf-f0d8732307d7"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: lift_transport: Left hand lifts the yellow ring off the table and transports it rightward to above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: place: Left hand places the yellow ring downward onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand adjusts its grip and the position of the yellow ring on the pitcher mouth slightly. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the yellow ring on the mouth of the glass pitcher without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand grasps the transparent glass object inside the glass cup, adjusting fingers to stabilize the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "goal", "start_step": 511, "end_step": 630, "id": "a0f930ea-fb98-4514-bf9e-adb23ffb0a63"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00018", "text": "Left hand: lift_transport: Left hand lifts the transparent glass object out of the glass cup and transports it to the left side of the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 540, "end_step": 547, "id": "reasoning-language-00019", "text": "Left hand: place_release: Left hand places the transparent glass object on the black table surface and releases its grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00020", "text": "Left hand: retreat: Left hand retreats leftward and upward away from the placed transparent glass object. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00021", "text": "Left hand: reach: Left hand reaches toward the transparent glass object on the left side of the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00022", "text": "Left hand: grasp: Left hand grasps the transparent glass object on the table, with fingers continuously adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00023", "text": "Left hand: lift: Left hand lifts the transparent ribbed glass object from the black table surface. | Right hand: reach: Right hand moves towards the transparent ribbed glass object held by the left hand."}, {"label": "goal", "start_step": 631, "end_step": 813, "id": "96d4f9a0-3da1-44df-a407-c4a9b8b51f1a"}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the transparent ribbed glass object in the air without moving. | Right hand: reach: Right hand moves towards the transparent ribbed glass object held by the left hand."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the transparent ribbed glass object in the air without moving. | Right hand: grasp: Right hand grasps the transparent ribbed glass object, with fingers closing around it to form a stable grip."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: release: Left hand releases the transparent ribbed glass object, with fingers opening to separate from the object. | Right hand: grasp: Right hand grasps the transparent ribbed glass object, with fingers closing around it to form a stable grip."}, {"label": "subtasks", "start_step": 750, "end_step": 757, "id": "reasoning-language-00027", "text": "Left hand: release: Left hand releases the transparent ribbed glass object, with fingers opening to separate from the object. | Right hand: transport: Right hand carries the transparent ribbed glass object through the air towards the glass cup with the wooden ring on top."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the transparent ribbed glass object through the air towards the glass cup with the wooden ring on top."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the transparent ribbed glass object into the wooden ring on top of the glass cup."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the glass cup onto the wooden ring on top of the glass container and releases its grip."}, {"label": "goal", "start_step": 814, "end_step": 843, "id": "0f713114-6212-4a62-885f-980e5dd7cae3"}, {"label": "goal", "start_step": 844, "end_step": 1365, "id": "1108ef52-c66f-4377-99a7-8cc0ad5fba4d"}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the stack of fan-shaped sheets on the right side of the table."}, {"label": "subtasks", "start_step": 892, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers on the top fan-shaped sheet to establish a preliminary grasp."}, {"label": "subtasks", "start_step": 990, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the top fan-shaped sheet on the stack without moving."}, {"label": "subtasks", "start_step": 1118, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand readjusts its grip on the top fan-shaped sheet to prepare for lifting."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "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 top fan-shaped sheet off the stack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the lifted fan-shaped sheet to the side of the stack and releases it onto the table."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches back toward the remaining stack of fan-shaped sheets."}, {"label": "subtasks", "start_step": 1268, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers on the next fan-shaped sheet to establish a stable grasp."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the next fan-shaped sheet off the stack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00040", "text": "Left hand: reach: Left hand moves rightward from the left side of the table to approach the wooden piece held by the right hand. | Right hand: grasp_lift: Right hand grasps the top wooden piece from the stack on the black table and lifts it off the surface."}, {"label": "goal", "start_step": 1366, "end_step": 1977, "id": "07d99ba8-2aba-46a1-a3d3-ffc1644fc946"}, {"label": "subtasks", "start_step": 1380, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: reach: Left hand moves rightward from the left side of the table to approach the wooden piece held by the right hand. | Right hand: transport: Right hand transports the wooden piece leftward to the middle area above the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: reach: Left hand moves rightward from the left side of the table to approach the wooden piece held by the right hand. | Right hand: hold: Right hand holds the wooden piece steadily without moving while the left hand adjusts its grasp."}, {"label": "subtasks", "start_step": 1440, "end_step": 1679, "id": "reasoning-language-00043", "text": "Left hand: grasp: Left hand adjusts its fingers to establish a stable grasp on the wooden piece. | Right hand: hold: Right hand holds the wooden piece steadily without moving while the left hand adjusts its grasp."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: grasp: Left hand adjusts its fingers to establish a stable grasp on the wooden piece. | Right hand: release_retreat: Right hand releases the wooden piece and retreats slightly rightward with empty hand."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: reorient: Left hand rotates the wooden piece slightly to adjust its posture while keeping the position roughly unchanged. | Right hand: reach_grasp: Right hand reaches leftward to the wooden piece and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 1718, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: reorient: Left hand rotates the wooden piece slightly to adjust its posture while keeping the position roughly unchanged. | Right hand: reorient: Right hand rotates the wooden piece slightly together with the left hand to adjust its posture, with the position roughly unchanged."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the wooden piece slightly together with the left hand to adjust its posture, with the position roughly unchanged."}, {"label": "goal", "start_step": 1978, "end_step": 2259, "id": "29f3202f-be36-4b22-88dc-1805d20e0700"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: grasp: Right hand adjusts its grasp on the yellow object, fingers slightly reposition to stabilize the grip while the object stays static."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the yellow object up to near-vertical then back to horizontal, with a total rotation of about half a turn."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: grasp: Right hand adjusts its grasp on the yellow object, fingers slightly move to adjust contact points while the object stays static."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the yellow object from horizontal orientation to near-vertical orientation, about a quarter turn."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: grasp: Right hand adjusts its grasp on the yellow object, fingers slightly reposition while the object stays static."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the yellow object from horizontal orientation to near-vertical orientation, about a quarter turn."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: release: Left hand releases the yellow object, fingers open to separate from the object surface. | Right hand: reorient: Right hand rotates the yellow object from horizontal orientation to near-vertical orientation, about a quarter turn."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00055", "text": "Left hand: retreat: Left hand moves leftward away from the yellow paper sheet, remaining empty during the movement. | Right hand: transport: Right hand holds the yellow paper sheet, transports it from the left area to the position above the glass cup, and rotates the paper to a horizontal orientation."}, {"label": "goal", "start_step": 2260, "end_step": 2352, "id": "735aca22-5186-49db-baac-44c0576e5ea0"}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand holds the yellow paper sheet, transports it from the left area to the position above the glass cup, and rotates the paper to a horizontal orientation."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand moves the yellow paper sheet downward and places it onto the rim of the glass cup."}, {"label": "subtasks", "start_step": 2340, "end_step": 2504, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand holds the brown filter paper and adjusts it to align and fit onto the mouth of the glass container."}, {"label": "goal", "start_step": 2353, "end_step": 2502, "id": "6811bf02-8de8-4cf6-bd14-a1584ca69805"}, {"label": "home", "start_step": 2540, "end_step": 2687, "id": "nwX2b5tM0Z3CjyXDzD1qZ"}], "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 black table without moving. | Right hand: reach: Right hand moves toward the glass pitcher on the black table from the right side."}, {"label": "subtasks", "start_step": 68, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the glass pitcher on the black table and adjusts the grip slightly."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the glass pitcher upward away from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand moves downward to place the transparent glass pot on the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the transparent glass pot on the black table without moving."}, {"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 black table without moving. | Right hand: release: Right hand releases the small glass cup inside the glass pitcher, with fingers opening to release the grip."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the glass pitcher, keeping empty."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: reach: Left hand moves downward toward the yellow circular ring on the black table, keeping empty. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand grasps the yellow circular ring on the black table, with fingers closing to adjust the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the yellow circular ring on the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand grasps the yellow ring on the black table, adjusting fingers to form a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: lift_transport: Left hand lifts the yellow ring off the table and transports it rightward to above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: place: Left hand places the yellow ring downward onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand adjusts its grip and the position of the yellow ring on the pitcher mouth slightly. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the yellow ring on the mouth of the glass pitcher without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand grasps the transparent glass object inside the glass cup, adjusting fingers to stabilize the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00018", "text": "Left hand: lift_transport: Left hand lifts the transparent glass object out of the glass cup and transports it to the left side of the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 540, "end_step": 547, "id": "reasoning-language-00019", "text": "Left hand: place_release: Left hand places the transparent glass object on the black table surface and releases its grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00020", "text": "Left hand: retreat: Left hand retreats leftward and upward away from the placed transparent glass object. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00021", "text": "Left hand: reach: Left hand reaches toward the transparent glass object on the left side of the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00022", "text": "Left hand: grasp: Left hand grasps the transparent glass object on the table, with fingers continuously adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00023", "text": "Left hand: lift: Left hand lifts the transparent ribbed glass object from the black table surface. | Right hand: reach: Right hand moves towards the transparent ribbed glass object held by the left hand."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the transparent ribbed glass object in the air without moving. | Right hand: reach: Right hand moves towards the transparent ribbed glass object held by the left hand."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the transparent ribbed glass object in the air without moving. | Right hand: grasp: Right hand grasps the transparent ribbed glass object, with fingers closing around it to form a stable grip."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: release: Left hand releases the transparent ribbed glass object, with fingers opening to separate from the object. | Right hand: grasp: Right hand grasps the transparent ribbed glass object, with fingers closing around it to form a stable grip."}, {"label": "subtasks", "start_step": 750, "end_step": 757, "id": "reasoning-language-00027", "text": "Left hand: release: Left hand releases the transparent ribbed glass object, with fingers opening to separate from the object. | Right hand: transport: Right hand carries the transparent ribbed glass object through the air towards the glass cup with the wooden ring on top."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the transparent ribbed glass object through the air towards the glass cup with the wooden ring on top."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the transparent ribbed glass object into the wooden ring on top of the glass cup."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the glass cup onto the wooden ring on top of the glass container and releases its grip."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the stack of fan-shaped sheets on the right side of the table."}, {"label": "subtasks", "start_step": 892, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers on the top fan-shaped sheet to establish a preliminary grasp."}, {"label": "subtasks", "start_step": 990, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the top fan-shaped sheet on the stack without moving."}, {"label": "subtasks", "start_step": 1118, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand readjusts its grip on the top fan-shaped sheet to prepare for lifting."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "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 top fan-shaped sheet off the stack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the lifted fan-shaped sheet to the side of the stack and releases it onto the table."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches back toward the remaining stack of fan-shaped sheets."}, {"label": "subtasks", "start_step": 1268, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers on the next fan-shaped sheet to establish a stable grasp."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the next fan-shaped sheet off the stack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00040", "text": "Left hand: reach: Left hand moves rightward from the left side of the table to approach the wooden piece held by the right hand. | Right hand: grasp_lift: Right hand grasps the top wooden piece from the stack on the black table and lifts it off the surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: reach: Left hand moves rightward from the left side of the table to approach the wooden piece held by the right hand. | Right hand: transport: Right hand transports the wooden piece leftward to the middle area above the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: reach: Left hand moves rightward from the left side of the table to approach the wooden piece held by the right hand. | Right hand: hold: Right hand holds the wooden piece steadily without moving while the left hand adjusts its grasp."}, {"label": "subtasks", "start_step": 1440, "end_step": 1679, "id": "reasoning-language-00043", "text": "Left hand: grasp: Left hand adjusts its fingers to establish a stable grasp on the wooden piece. | Right hand: hold: Right hand holds the wooden piece steadily without moving while the left hand adjusts its grasp."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: grasp: Left hand adjusts its fingers to establish a stable grasp on the wooden piece. | Right hand: release_retreat: Right hand releases the wooden piece and retreats slightly rightward with empty hand."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: reorient: Left hand rotates the wooden piece slightly to adjust its posture while keeping the position roughly unchanged. | Right hand: reach_grasp: Right hand reaches leftward to the wooden piece and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 1718, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: reorient: Left hand rotates the wooden piece slightly to adjust its posture while keeping the position roughly unchanged. | Right hand: reorient: Right hand rotates the wooden piece slightly together with the left hand to adjust its posture, with the position roughly unchanged."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the wooden piece slightly together with the left hand to adjust its posture, with the position roughly unchanged."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: grasp: Right hand adjusts its grasp on the yellow object, fingers slightly reposition to stabilize the grip while the object stays static."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the yellow object up to near-vertical then back to horizontal, with a total rotation of about half a turn."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: grasp: Right hand adjusts its grasp on the yellow object, fingers slightly move to adjust contact points while the object stays static."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the yellow object from horizontal orientation to near-vertical orientation, about a quarter turn."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: grasp: Right hand adjusts its grasp on the yellow object, fingers slightly reposition while the object stays static."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the yellow object from horizontal orientation to near-vertical orientation, about a quarter turn."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: release: Left hand releases the yellow object, fingers open to separate from the object surface. | Right hand: reorient: Right hand rotates the yellow object from horizontal orientation to near-vertical orientation, about a quarter turn."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00055", "text": "Left hand: retreat: Left hand moves leftward away from the yellow paper sheet, remaining empty during the movement. | Right hand: transport: Right hand holds the yellow paper sheet, transports it from the left area to the position above the glass cup, and rotates the paper to a horizontal orientation."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand holds the yellow paper sheet, transports it from the left area to the position above the glass cup, and rotates the paper to a horizontal orientation."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand moves the yellow paper sheet downward and places it onto the rim of the glass cup."}, {"label": "subtasks", "start_step": 2340, "end_step": 2504, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand holds the brown filter paper and adjusts it to align and fit onto the mouth of the glass container."}], "episode_index": 4}
+{"source_uid": "c868d3e02d317416", "num_frames": 2908, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 black table without moving. | Right hand: reach: Right hand moves toward the glass pitcher placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 168, "id": "8e2942d8-e23e-4804-812d-e14cc647ed36"}, {"label": "valid", "start_step": 0, "end_step": 2759, "id": "F4lEadau40i7Ju8HLnGbx"}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to form a stable grasp on the glass pitcher."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the glass pitcher upward away from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the transparent glass pot leftward above the black table."}, {"label": "goal", "start_step": 169, "end_step": 243, "id": "2ca0d910-995e-45a1-80d9-1dc178c508d0"}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the transparent glass pot onto the black table and releases the grip on the pot with fingers opening."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_retreat: Right hand releases the glass pitcher and moves upward away from the pitcher."}, {"label": "goal", "start_step": 244, "end_step": 378, "id": "81ccf800-5ff4-4359-9ac7-69eafe4b79ae"}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves toward the yellow ring placed on the black table. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes fingers to grasp the yellow ring, adjusting grip to stabilize the object. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow ring on the black table without moving. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: lift: Left hand lifts the yellow ring from the black table surface. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "goal", "start_step": 379, "end_step": 510, "id": "503591ff-212c-4217-8624-5e1d01f08440"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00012", "text": "Left hand: transport: Left hand transports the yellow ring above the opening of the glass pitcher. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand places the yellow ring onto the opening of the glass pitcher. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: place_release: Left hand places the wooden ring on the top of the glass pot and releases the ring. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "goal", "start_step": 511, "end_step": 633, "id": "cb5ae9e7-d36b-48e5-a02d-09f5d229c167"}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: retreat: Left hand retreats away from the glass pot towards the left side of the table. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand reaches towards the glass funnel placed on the black table. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand grasps the glass funnel, adjusting fingers to form a stable grip. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: lift_transport: Left hand lifts the transparent glass funnel from the black table and moves it to the position near the right manipulator. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "goal", "start_step": 634, "end_step": 828, "id": "215c053a-94fc-461f-8f12-23d71703c3b3"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: grasp: Right hand closes its fingers to grasp the transparent glass funnel and adjusts the grip to keep stable."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: transport: Right hand carries the transparent glass funnel to move above the glass pot with a wooden ring on its top."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: place: Right hand places the transparent glass funnel onto the wooden ring of the glass pot, and the funnel is supported by the ring stably."}, {"label": "goal", "start_step": 829, "end_step": 840, "id": "da0a5262-b12e-4df2-a7d1-40f3d97e852f"}, {"label": "goal", "start_step": 841, "end_step": 1515, "id": "687d7ea8-3074-4ef8-b431-1f1da875b949"}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: release: Right hand releases the glass funnel after placing it stably."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: reach: Right hand moves towards the stack of filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: grasp: Right hand grasps the top filter paper from the paper stack."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: lift: Right hand lifts the grasped filter paper off the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: transport: Right hand carries the filter paper to the area above the glass cup."}, {"label": "subtasks", "start_step": 1125, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: reorient: Right hand adjusts the posture of the filter paper with left hand's assistance, position remains roughly unchanged."}, {"label": "subtasks", "start_step": 1132, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: reach_grasp: Left hand moves towards the filter paper held by right hand and grasps its edge. | Right hand: reorient: Right hand adjusts the posture of the filter paper with left hand's assistance, position remains roughly unchanged."}, {"label": "subtasks", "start_step": 1200, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the edge of the filter paper without moving during posture adjustment. | Right hand: reorient: Right hand adjusts the posture of the filter paper with left hand's assistance, position remains roughly unchanged."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: release: Left hand releases the edge of the filter paper. | Right hand: place: Right hand places the filter paper onto the table surface next to the glass cup."}, {"label": "subtasks", "start_step": 1342, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: release: Right hand releases the filter paper after placing it on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: reach: Right hand moves towards the filter paper just placed on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: grasp: Right hand grasps the filter paper on the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: lift: Right hand lifts the filter paper off the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: lift: Right hand lifts the filter paper off the table surface."}, {"label": "goal", "start_step": 1516, "end_step": 2400, "id": "b16dd134-6a89-41de-a3fd-fec3f5e0523c"}, {"label": "subtasks", "start_step": 1545, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: transport_release: Right hand transports the filter paper towards the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00038", "text": "Left hand: grasp: Left hand grasps the filter paper from the right hand. | Right hand: transport_release: Right hand transports the filter paper towards the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the filter paper without obvious movement. | Right hand: reach: Right hand reaches towards the filter paper held by the left hand."}, {"label": "subtasks", "start_step": 1860, "end_step": 2099, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the filter paper without obvious movement. | Right hand: grasp_release: Right hand grasps the filter paper to adjust holding position then releases it."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the filter paper without obvious movement. | Right hand: reach: Right hand reaches towards the side edge of the filter paper."}, {"label": "subtasks", "start_step": 2160, "end_step": 2399, "id": "reasoning-language-00042", "text": "Left hand: fold: Left hand folds the edge of the filter paper to form a cone shape. | Right hand: press: Right hand presses the side edge of the filter paper to adjust its shape."}, {"label": "subtasks", "start_step": 2400, "end_step": 2549, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: fold: Right hand folds the brown filter paper by adjusting fingers to shape the paper."}, {"label": "goal", "start_step": 2401, "end_step": 2550, "id": "f70db095-d591-48db-97a6-10dfa9a161e9"}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: transport: Right hand transports the folded filter paper towards the glass cup on the table."}, {"label": "goal", "start_step": 2551, "end_step": 2643, "id": "668592b7-ac30-4955-aa1d-08951871fc25"}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: place: Right hand places the filter paper onto the rim of the glass cup."}, {"label": "goal", "start_step": 2644, "end_step": 2712, "id": "152de307-a8d1-4f26-a092-f58b381a33b3"}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: release: Right hand releases the filter paper placed on the glass cup rim."}, {"label": "home", "start_step": 2760, "end_step": 2907, "id": "5h6clshys6rgekFUGeolz"}], "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 black table without moving. | Right hand: reach: Right hand moves toward the glass pitcher placed on the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to form a stable grasp on the glass pitcher."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the glass pitcher upward away from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the transparent glass pot leftward above the black table."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the transparent glass pot onto the black table and releases the grip on the pot with fingers opening."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_retreat: Right hand releases the glass pitcher and moves upward away from the pitcher."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves toward the yellow ring placed on the black table. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes fingers to grasp the yellow ring, adjusting grip to stabilize the object. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow ring on the black table without moving. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: lift: Left hand lifts the yellow ring from the black table surface. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00012", "text": "Left hand: transport: Left hand transports the yellow ring above the opening of the glass pitcher. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand places the yellow ring onto the opening of the glass pitcher. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: place_release: Left hand places the wooden ring on the top of the glass pot and releases the ring. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: retreat: Left hand retreats away from the glass pot towards the left side of the table. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand reaches towards the glass funnel placed on the black table. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand grasps the glass funnel, adjusting fingers to form a stable grip. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: lift_transport: Left hand lifts the transparent glass funnel from the black table and moves it to the position near the right manipulator. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: grasp: Right hand closes its fingers to grasp the transparent glass funnel and adjusts the grip to keep stable."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: transport: Right hand carries the transparent glass funnel to move above the glass pot with a wooden ring on its top."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: place: Right hand places the transparent glass funnel onto the wooden ring of the glass pot, and the funnel is supported by the ring stably."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: release: Right hand releases the glass funnel after placing it stably."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: reach: Right hand moves towards the stack of filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: grasp: Right hand grasps the top filter paper from the paper stack."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: lift: Right hand lifts the grasped filter paper off the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: transport: Right hand carries the filter paper to the area above the glass cup."}, {"label": "subtasks", "start_step": 1125, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: reorient: Right hand adjusts the posture of the filter paper with left hand's assistance, position remains roughly unchanged."}, {"label": "subtasks", "start_step": 1132, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: reach_grasp: Left hand moves towards the filter paper held by right hand and grasps its edge. | Right hand: reorient: Right hand adjusts the posture of the filter paper with left hand's assistance, position remains roughly unchanged."}, {"label": "subtasks", "start_step": 1200, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the edge of the filter paper without moving during posture adjustment. | Right hand: reorient: Right hand adjusts the posture of the filter paper with left hand's assistance, position remains roughly unchanged."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: release: Left hand releases the edge of the filter paper. | Right hand: place: Right hand places the filter paper onto the table surface next to the glass cup."}, {"label": "subtasks", "start_step": 1342, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: release: Right hand releases the filter paper after placing it on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: reach: Right hand moves towards the filter paper just placed on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: grasp: Right hand grasps the filter paper on the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: lift: Right hand lifts the filter paper off the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: lift: Right hand lifts the filter paper off the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: transport_release: Right hand transports the filter paper towards the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00038", "text": "Left hand: grasp: Left hand grasps the filter paper from the right hand. | Right hand: transport_release: Right hand transports the filter paper towards the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the filter paper without obvious movement. | Right hand: reach: Right hand reaches towards the filter paper held by the left hand."}, {"label": "subtasks", "start_step": 1860, "end_step": 2099, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the filter paper without obvious movement. | Right hand: grasp_release: Right hand grasps the filter paper to adjust holding position then releases it."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the filter paper without obvious movement. | Right hand: reach: Right hand reaches towards the side edge of the filter paper."}, {"label": "subtasks", "start_step": 2160, "end_step": 2399, "id": "reasoning-language-00042", "text": "Left hand: fold: Left hand folds the edge of the filter paper to form a cone shape. | Right hand: press: Right hand presses the side edge of the filter paper to adjust its shape."}, {"label": "subtasks", "start_step": 2400, "end_step": 2549, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: fold: Right hand folds the brown filter paper by adjusting fingers to shape the paper."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: transport: Right hand transports the folded filter paper towards the glass cup on the table."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: place: Right hand places the filter paper onto the rim of the glass cup."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: release: Right hand releases the filter paper placed on the glass cup rim."}], "episode_index": 5}
+{"source_uid": "08b2dad985f6b9dc", "num_frames": 2063, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: reach: Right hand moves while empty from its initial upper right position downward toward the clear glass pitcher placed on the center of the table."}, {"label": "goal", "start_step": 0, "end_step": 123, "id": "aa96bb9b-8923-4acc-b07c-ce3f0d9e36f3"}, {"label": "valid", "start_step": 0, "end_step": 1914, "id": "p-0srPpAjKQ2TYMoyDAm4"}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: grasp: Right hand closes and adjusts its fingers around the clear glass pitcher on the table to form a grasp, with the pitcher remaining on the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: place: Right hand moves downward while holding the transparent glass kettle to place it on the black table surface."}, {"label": "goal", "start_step": 124, "end_step": 207, "id": "19a6835f-fa50-4395-9fc3-026f78508872"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: hold: Right hand holds the transparent glass kettle steadily on the black table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves empty from its initial left position toward the yellow ring-shaped object on the black table, approaching the target without contact. | Right hand: release: Right hand opens its fingers to release the clear glass pitcher on the black table, separating from the pitcher's handle."}, {"label": "goal", "start_step": 208, "end_step": 363, "id": "8f2c93ad-9aba-4ef7-9385-bcd58b984ac7"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves empty from its initial left position toward the yellow ring-shaped object on the black table, approaching the target without contact. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the glass pitcher to the upper right area of the frame."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand makes contact with the yellow ring-shaped object, closing and adjusting its fingers to form a grasp while the object stays on the table surface. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the black table steadily with no observable movement of the hand, fingers or the object. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand holds the yellow ring-shaped filter holder resting on the black table surface and lifts it upward until the holder is completely separated from the table. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "goal", "start_step": 364, "end_step": 501, "id": "c6c9d066-1601-44f3-868d-a71c527ef409"}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the lifted yellow filter holder and moves it toward the lower right, positioning the holder directly above the opening of the clear glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand lowers the yellow filter holder onto the rim of the clear glass pitcher, making slight positional adjustments until the holder is stably supported by the pitcher rim. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: place_release: Left hand seats the light brown wooden ring on the opening of the clear glass pitcher, opens fingers to release contact with the fully supported ring. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "goal", "start_step": 502, "end_step": 642, "id": "0a0a85c1-d463-4c62-ae64-ca20465c5131"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty above the clear glass dripper on the black table surface without observable movement. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves downward toward the clear glass dripper resting on the table, approaching the dripper without making contact. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand contacts the upper portion of the clear glass dripper, adjusting finger positions to close around the dripper during grip formation. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand holds the clear fluted glass dripper and lifts it upward until the dripper is fully off the black table surface. | Right hand: reach: Right hand moves empty downward and leftward toward the clear fluted glass dripper held by the left hand, stopping just before contact."}, {"label": "goal", "start_step": 643, "end_step": 816, "id": "4bdce60b-e370-4c8a-8ed6-41fd711fbb52"}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: transport: Left hand carries the lifted clear fluted glass dripper upward and rightward to the handover position in front of the right hand. | Right hand: reach: Right hand moves empty downward and leftward toward the clear fluted glass dripper held by the left hand, stopping just before contact."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper steady at the handover position without moving. | Right hand: reach: Right hand moves empty downward and leftward toward the clear fluted glass dripper held by the left hand, stopping just before contact."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper steady at the handover position without moving. | Right hand: grasp: Right hand closes its fingers around the clear fluted glass dripper, adjusting finger positions to form a stable grasp on the dripper."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper steady at the handover position without moving. | Right hand: transport: Right hand carries the grasped clear fluted glass dripper downward toward the wooden ring on top of the clear glass pitcher below."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand opens its fingers to release the clear fluted glass dripper, separating from the dripper completely. | Right hand: transport: Right hand carries the grasped clear fluted glass dripper downward toward the wooden ring on top of the clear glass pitcher below."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the grasped clear fluted glass dripper downward toward the wooden ring on top of the clear glass pitcher below."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the clear fluted glass dripper with the wooden ring opening and inserts the dripper into the ring to establish the assembly fit."}, {"label": "goal", "start_step": 817, "end_step": 846, "id": "8daf7bf7-7c49-4422-8c28-1e5a07c7aadf"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "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: place: Right hand holds the fluted glass filter and moves downward to place it onto the wooden ring atop the clear glass container, until the filter is fully supported by the ring."}, {"label": "goal", "start_step": 847, "end_step": 1101, "id": "5a0f2162-4b86-4386-9a69-bed2b7c7a644"}, {"label": "subtasks", "start_step": 848, "end_step": 861, "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: release: Right hand opens its fingers to release the glass filter, separating its digits from the filter surface."}, {"label": "subtasks", "start_step": 862, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves rightward from the glass filter position toward the stack of beige filter papers on the table, approaching the top surface of the paper stack without making contact."}, {"label": "subtasks", "start_step": 915, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the top of the filter paper stack, adjusts wrist position and finger opening/closing to attempt grasping a single sheet of filter paper, with minor finger and wrist movements throughout the period."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: reach: Left hand moves empty rightward through the air toward the coffee filter held by the right hand. | Right hand: lift: Right hand holds the edge of the top coffee filter on the paper stack and lifts it upward, raising the filter completely off the supporting stack."}, {"label": "goal", "start_step": 1102, "end_step": 1500, "id": "9f919410-f12a-4e4b-98cd-158c5866c773"}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: reach: Left hand moves empty rightward through the air toward the coffee filter held by the right hand. | Right hand: transport: Right hand carries the lifted coffee filter leftward through the air toward the approaching left hand."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: grasp: Left hand closes its fingers around the edge of the coffee filter, making small adjustments to establish a stable grasp on the filter. | Right hand: transport: Right hand carries the lifted coffee filter leftward through the air toward the approaching left hand."}, {"label": "subtasks", "start_step": 1170, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: grasp: Left hand closes its fingers around the edge of the coffee filter, making small adjustments to establish a stable grasp on the filter. | Right hand: hold: Right hand holds the coffee filter steadily in midair above the table without visible movement."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: release: Right hand opens its fingers to release the coffee filter, separating from the filter which is now held by the left hand."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the coffee filter's position."}, {"label": "subtasks", "start_step": 1282, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: reach: Right hand moves empty leftward through the air toward the coffee filter held by the left hand."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: grasp: Right hand closes its fingers around the coffee filter, making small adjustments to establish a stable grasp on the filter."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: reorient: Right hand rotates the grasped coffee filter slightly via wrist movement to adjust its orientation, keeping its position roughly unchanged above the table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: release: Left hand opens its fingers to release the coffee filter, separating from the filter as one sheet falls to the table below. | Right hand: reorient: Right hand rotates the grasped coffee filter slightly via wrist movement to adjust its orientation, keeping its position roughly unchanged above the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1499, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty above the left side of the table without any visible movement. | Right hand: reorient: Right hand rotates the grasped coffee filter slightly via wrist movement to adjust its orientation, keeping its position roughly unchanged above the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: grasp: Left hand grasps the edge of the brown paper coffee filter, making slight finger adjustments to maintain grip while the filter is folded. | Right hand: fold: Right hand folds the brown paper coffee filter, pressing the flexible filter material to form a conical funnel shape."}, {"label": "goal", "start_step": 1501, "end_step": 1626, "id": "cf21d9c4-b167-48ed-a563-0c92a17d8d39"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: grasp: Left hand grasps the edge of the brown paper coffee filter, making slight finger adjustments to maintain grip while the filter is folded. | Right hand: hold: Right hand holds the folded conical brown paper coffee filter without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: release: Left hand opens its gripper fingers to release contact with the edge of the brown paper coffee filter. | Right hand: hold: Right hand holds the folded conical brown paper coffee filter without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: transport: Right hand holds the folded brown paper filter, moving it downward toward the glass dripper while slightly rotating the wrist to adjust the filter's orientation."}, {"label": "goal", "start_step": 1627, "end_step": 1752, "id": "33c3a2c4-0db7-4004-95c8-f3f449a32b5c"}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: place: Right hand lowers the folded brown paper filter into the glass dripper, adjusting its position to fit the dripper's opening."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: press: Right hand presses the brown paper filter downward to adjust its shape and seat it fully inside the plastic ring on top of the clear glass container."}, {"label": "goal", "start_step": 1753, "end_step": 1854, "id": "93e5d19a-9d32-4bb3-a863-9c73c09d8f0f"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: hold: Right hand stays in contact with the seated brown paper filter without noticeable movement."}, {"label": "home", "start_step": 1915, "end_step": 2062, "id": "bCgtFUcZVPplDU6f-fTtk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: reach: Right hand moves while empty from its initial upper right position downward toward the clear glass pitcher placed on the center of the table."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: grasp: Right hand closes and adjusts its fingers around the clear glass pitcher on the table to form a grasp, with the pitcher remaining on the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: place: Right hand moves downward while holding the transparent glass kettle to place it on the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: hold: Right hand holds the transparent glass kettle steadily on the black table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves empty from its initial left position toward the yellow ring-shaped object on the black table, approaching the target without contact. | Right hand: release: Right hand opens its fingers to release the clear glass pitcher on the black table, separating from the pitcher's handle."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves empty from its initial left position toward the yellow ring-shaped object on the black table, approaching the target without contact. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the glass pitcher to the upper right area of the frame."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand makes contact with the yellow ring-shaped object, closing and adjusting its fingers to form a grasp while the object stays on the table surface. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the black table steadily with no observable movement of the hand, fingers or the object. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand holds the yellow ring-shaped filter holder resting on the black table surface and lifts it upward until the holder is completely separated from the table. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the lifted yellow filter holder and moves it toward the lower right, positioning the holder directly above the opening of the clear glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand lowers the yellow filter holder onto the rim of the clear glass pitcher, making slight positional adjustments until the holder is stably supported by the pitcher rim. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: place_release: Left hand seats the light brown wooden ring on the opening of the clear glass pitcher, opens fingers to release contact with the fully supported ring. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty above the clear glass dripper on the black table surface without observable movement. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves downward toward the clear glass dripper resting on the table, approaching the dripper without making contact. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand contacts the upper portion of the clear glass dripper, adjusting finger positions to close around the dripper during grip formation. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand holds the clear fluted glass dripper and lifts it upward until the dripper is fully off the black table surface. | Right hand: reach: Right hand moves empty downward and leftward toward the clear fluted glass dripper held by the left hand, stopping just before contact."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: transport: Left hand carries the lifted clear fluted glass dripper upward and rightward to the handover position in front of the right hand. | Right hand: reach: Right hand moves empty downward and leftward toward the clear fluted glass dripper held by the left hand, stopping just before contact."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper steady at the handover position without moving. | Right hand: reach: Right hand moves empty downward and leftward toward the clear fluted glass dripper held by the left hand, stopping just before contact."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper steady at the handover position without moving. | Right hand: grasp: Right hand closes its fingers around the clear fluted glass dripper, adjusting finger positions to form a stable grasp on the dripper."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper steady at the handover position without moving. | Right hand: transport: Right hand carries the grasped clear fluted glass dripper downward toward the wooden ring on top of the clear glass pitcher below."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand opens its fingers to release the clear fluted glass dripper, separating from the dripper completely. | Right hand: transport: Right hand carries the grasped clear fluted glass dripper downward toward the wooden ring on top of the clear glass pitcher below."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the grasped clear fluted glass dripper downward toward the wooden ring on top of the clear glass pitcher below."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the clear fluted glass dripper with the wooden ring opening and inserts the dripper into the ring to establish the assembly fit."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "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: place: Right hand holds the fluted glass filter and moves downward to place it onto the wooden ring atop the clear glass container, until the filter is fully supported by the ring."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "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: release: Right hand opens its fingers to release the glass filter, separating its digits from the filter surface."}, {"label": "subtasks", "start_step": 862, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves rightward from the glass filter position toward the stack of beige filter papers on the table, approaching the top surface of the paper stack without making contact."}, {"label": "subtasks", "start_step": 915, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the top of the filter paper stack, adjusts wrist position and finger opening/closing to attempt grasping a single sheet of filter paper, with minor finger and wrist movements throughout the period."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: reach: Left hand moves empty rightward through the air toward the coffee filter held by the right hand. | Right hand: lift: Right hand holds the edge of the top coffee filter on the paper stack and lifts it upward, raising the filter completely off the supporting stack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: reach: Left hand moves empty rightward through the air toward the coffee filter held by the right hand. | Right hand: transport: Right hand carries the lifted coffee filter leftward through the air toward the approaching left hand."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: grasp: Left hand closes its fingers around the edge of the coffee filter, making small adjustments to establish a stable grasp on the filter. | Right hand: transport: Right hand carries the lifted coffee filter leftward through the air toward the approaching left hand."}, {"label": "subtasks", "start_step": 1170, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: grasp: Left hand closes its fingers around the edge of the coffee filter, making small adjustments to establish a stable grasp on the filter. | Right hand: hold: Right hand holds the coffee filter steadily in midair above the table without visible movement."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: release: Right hand opens its fingers to release the coffee filter, separating from the filter which is now held by the left hand."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the coffee filter's position."}, {"label": "subtasks", "start_step": 1282, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: reach: Right hand moves empty leftward through the air toward the coffee filter held by the left hand."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: grasp: Right hand closes its fingers around the coffee filter, making small adjustments to establish a stable grasp on the filter."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: reorient: Right hand rotates the grasped coffee filter slightly via wrist movement to adjust its orientation, keeping its position roughly unchanged above the table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: release: Left hand opens its fingers to release the coffee filter, separating from the filter as one sheet falls to the table below. | Right hand: reorient: Right hand rotates the grasped coffee filter slightly via wrist movement to adjust its orientation, keeping its position roughly unchanged above the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1499, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty above the left side of the table without any visible movement. | Right hand: reorient: Right hand rotates the grasped coffee filter slightly via wrist movement to adjust its orientation, keeping its position roughly unchanged above the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: grasp: Left hand grasps the edge of the brown paper coffee filter, making slight finger adjustments to maintain grip while the filter is folded. | Right hand: fold: Right hand folds the brown paper coffee filter, pressing the flexible filter material to form a conical funnel shape."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: grasp: Left hand grasps the edge of the brown paper coffee filter, making slight finger adjustments to maintain grip while the filter is folded. | Right hand: hold: Right hand holds the folded conical brown paper coffee filter without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: release: Left hand opens its gripper fingers to release contact with the edge of the brown paper coffee filter. | Right hand: hold: Right hand holds the folded conical brown paper coffee filter without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: transport: Right hand holds the folded brown paper filter, moving it downward toward the glass dripper while slightly rotating the wrist to adjust the filter's orientation."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: place: Right hand lowers the folded brown paper filter into the glass dripper, adjusting its position to fit the dripper's opening."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: press: Right hand presses the brown paper filter downward to adjust its shape and seat it fully inside the plastic ring on top of the clear glass container."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: hold: Right hand stays in contact with the seated brown paper filter without noticeable movement."}], "episode_index": 6}
+{"source_uid": "fdbb2cca96fe53d5", "num_frames": 2996, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 black table without obvious movement. | Right hand: reach: Right hand moves leftward towards the glass pitcher placed on the black tablecloth."}, {"label": "goal", "start_step": 0, "end_step": 141, "id": "99168e8f-2fbd-43c0-a432-57d231212015"}, {"label": "valid", "start_step": 0, "end_step": 2847, "id": "gUtK9GSpNr9coex2WA2fd"}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand touches the glass pitcher, closes its fingers and adjusts the grip while the pitcher stays on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: lift: Right hand lifts the glass pitcher slightly upward from the table surface."}, {"label": "goal", "start_step": 142, "end_step": 219, "id": "76d50c51-7c7c-4580-8726-80da7a4576c7"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the glass pot from the right side of the black table and transports it leftward to the middle area of the table."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: place: Right hand places the glass pot onto the black table surface in the middle area."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the glass pot on the middle of the black table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: release: Right hand releases the transparent object inside the glass pitcher with fingers opening."}, {"label": "goal", "start_step": 220, "end_step": 327, "id": "04d16c8b-7a6c-48e2-92e7-a1d0b4f09ad4"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: retreat: Right hand retreats upward and rightward away from the glass pitcher, empty."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: reach_grasp: Left hand reaches downward to the yellow ring on the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow ring on the table without moving. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand grasps the yellow ring-shaped object on the table, with fingers adjusting to form a stable grip while the object remains on the table surface. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "goal", "start_step": 328, "end_step": 438, "id": "d711bebc-49f4-4f91-a68d-70b7553dd494"}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: lift_transport: Left hand lifts the yellow ring-shaped object off the table and transports it horizontally to the position above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand places the yellow ring-shaped object downward onto the mouth of the glass pitcher until the object is supported by the pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the mouth of the glass pitcher without moving. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00015", "text": "Left hand: release: Left hand releases the wooden ring on top of the glass cup, with fingers moving upward to separate from the ring. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "goal", "start_step": 439, "end_step": 609, "id": "c4b2ecdd-ee1b-43e4-8f6c-0812c7297d46"}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand reaches toward the fluted glass funnel on the black table, moving upward and leftward. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand grasps the top of the fluted glass funnel, with fingers closing and adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the fluted glass funnel on the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: grasp: Left hand grasps the transparent fluted cup on the black table, adjusting fingers to stabilize the grip while the cup remains on the table surface. | Right hand: reach: Right hand reaches leftward from the upper right area toward the transparent fluted cup held by the left hand."}, {"label": "goal", "start_step": 610, "end_step": 774, "id": "d6fef6af-0d43-43f6-be06-ea6f19e3521f"}, {"label": "subtasks", "start_step": 615, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: lift_transport: Left hand lifts the transparent fluted cup off the black table and transports it rightward toward the right hand. | Right hand: reach: Right hand reaches leftward from the upper right area toward the transparent fluted cup held by the left hand."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00021", "text": "Left hand: lift_transport: Left hand lifts the transparent fluted cup off the black table and transports it rightward toward the right hand. | Right hand: grasp: Right hand grasps the transparent fluted cup, closing fingers and adjusting grip to stabilize the cup."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00022", "text": "Left hand: release: Left hand releases the transparent fluted cup, gradually opening fingers to fully separate from the cup. | Right hand: grasp: Right hand grasps the transparent fluted cup, closing fingers and adjusting grip to stabilize the cup."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand releases the transparent fluted cup, gradually opening fingers to fully separate from the cup. | Right hand: transport: Right hand transports the transparent fluted cup leftward and downward toward the glass container with a wooden ring on top."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand retreats leftward away from the cup while remaining empty. | Right hand: transport: Right hand transports the transparent fluted cup leftward and downward toward the glass container with a wooden ring on top."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: place: Right hand places the transparent fluted cup onto the wooden ring on top of the glass container until the cup is stably supported by the ring."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: place_release: Right hand places the glass dripper onto the wooden ring on top of the glass pot and releases the dripper."}, {"label": "goal", "start_step": 775, "end_step": 804, "id": "cb11df88-9ddf-4011-82ec-39fa88817467"}, {"label": "goal", "start_step": 805, "end_step": 1056, "id": "688c1777-30a4-4cb9-9b6d-2cf08011e41c"}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: reach: Right hand moves empty toward the stack of filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 848, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: grasp: Right hand grasps the top filter paper from the stack, with fingers adjusting contact position and grip continuously to form a stable hold."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: lift: Right hand lifts the top filter paper upward partially from the stack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: reach: Left hand moves rightward from the left side of the frame to approach the filter paper held by the right hand. | Right hand: lift_transport: Right hand lifts the filter paper from the stack on the right side of the table and transports it leftward to above the glass container."}, {"label": "goal", "start_step": 1057, "end_step": 1494, "id": "c209c474-e4e2-491c-bcec-791cde8cd3a8"}, {"label": "subtasks", "start_step": 1110, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: fold: Left hand holds the filter paper and adjusts its shape together with the right hand. | Right hand: fold_release: Right hand adjusts the filter paper shape together with the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the filter paper above the glass container without moving. | Right hand: fold_release: Right hand adjusts the filter paper shape together with the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the filter paper above the glass container without moving. | Right hand: reach_grasp: Right hand moves leftward toward the filter paper held by the left hand and grasps the filter paper."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: fold: Left hand holds the filter paper and continues adjusting its shape together with the right hand. | Right hand: reach_grasp: Right hand moves leftward toward the filter paper held by the left hand and grasps the filter paper."}, {"label": "subtasks", "start_step": 1245, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand holds the filter paper and continues adjusting its shape together with the right hand. | Right hand: fold: Right hand holds the filter paper and continues adjusting its shape together with the left hand."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand adjusts its fingers to stably grasp the yellow filter paper between two hands. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the yellow filter paper between two hands."}, {"label": "goal", "start_step": 1495, "end_step": 1641, "id": "0c87307d-6184-4780-8e03-dcaed7fc1b6d"}, {"label": "subtasks", "start_step": 1522, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: fold: Left hand holds the yellow filter paper and folds it cooperatively, forming the paper into a cone shape. | Right hand: fold: Right hand holds the yellow filter paper and folds it cooperatively, forming the paper into a cone shape."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the folded yellow filter paper without any movement. | Right hand: hold_release: Right hand holds the folded yellow filter paper briefly and releases its grip to separate from the paper."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00039", "text": "Left hand: release: Left hand releases the yellow filter paper, with fingers opening to separate from the paper surface. | Right hand: hold: Right hand holds the yellow filter paper without moving."}, {"label": "goal", "start_step": 1642, "end_step": 1791, "id": "e1a5f85c-f7ca-47fd-83b5-f72b63c2ec43"}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00040", "text": "Left hand: retreat: Left hand retreats leftward away from the filter paper to the left side of the table. | Right hand: transport: Right hand transports the yellow filter paper to the position above the glass cup, slightly rotating the paper to adjust its orientation."}, {"label": "subtasks", "start_step": 1672, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the yellow filter paper to the position above the glass cup, slightly rotating the paper to adjust its orientation."}, {"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 table without moving. | Right hand: place: Right hand places the yellow filter paper downward into the glass cup, adjusting its position on the inner support ring."}, {"label": "subtasks", "start_step": 1785, "end_step": 2804, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_filter_paper: Right hand makes continuous small pressing and lateral repositioning movements on the cone-shaped filter paper resting on the glass dripper atop the glass cup."}, {"label": "goal", "start_step": 1792, "end_step": 2796, "id": "86bc17b1-0033-405b-89c7-e43dc1731538"}, {"label": "home", "start_step": 2848, "end_step": 2995, "id": "L1YgobqJ1BXj2-r_Idf8N"}], "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 black table without obvious movement. | Right hand: reach: Right hand moves leftward towards the glass pitcher placed on the black tablecloth."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand touches the glass pitcher, closes its fingers and adjusts the grip while the pitcher stays on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: lift: Right hand lifts the glass pitcher slightly upward from the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the glass pot from the right side of the black table and transports it leftward to the middle area of the table."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: place: Right hand places the glass pot onto the black table surface in the middle area."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the glass pot on the middle of the black table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: release: Right hand releases the transparent object inside the glass pitcher with fingers opening."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: retreat: Right hand retreats upward and rightward away from the glass pitcher, empty."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: reach_grasp: Left hand reaches downward to the yellow ring on the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow ring on the table without moving. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand grasps the yellow ring-shaped object on the table, with fingers adjusting to form a stable grip while the object remains on the table surface. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: lift_transport: Left hand lifts the yellow ring-shaped object off the table and transports it horizontally to the position above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand places the yellow ring-shaped object downward onto the mouth of the glass pitcher until the object is supported by the pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the mouth of the glass pitcher without moving. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00015", "text": "Left hand: release: Left hand releases the wooden ring on top of the glass cup, with fingers moving upward to separate from the ring. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand reaches toward the fluted glass funnel on the black table, moving upward and leftward. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand grasps the top of the fluted glass funnel, with fingers closing and adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the fluted glass funnel on the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: grasp: Left hand grasps the transparent fluted cup on the black table, adjusting fingers to stabilize the grip while the cup remains on the table surface. | Right hand: reach: Right hand reaches leftward from the upper right area toward the transparent fluted cup held by the left hand."}, {"label": "subtasks", "start_step": 615, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: lift_transport: Left hand lifts the transparent fluted cup off the black table and transports it rightward toward the right hand. | Right hand: reach: Right hand reaches leftward from the upper right area toward the transparent fluted cup held by the left hand."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00021", "text": "Left hand: lift_transport: Left hand lifts the transparent fluted cup off the black table and transports it rightward toward the right hand. | Right hand: grasp: Right hand grasps the transparent fluted cup, closing fingers and adjusting grip to stabilize the cup."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00022", "text": "Left hand: release: Left hand releases the transparent fluted cup, gradually opening fingers to fully separate from the cup. | Right hand: grasp: Right hand grasps the transparent fluted cup, closing fingers and adjusting grip to stabilize the cup."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand releases the transparent fluted cup, gradually opening fingers to fully separate from the cup. | Right hand: transport: Right hand transports the transparent fluted cup leftward and downward toward the glass container with a wooden ring on top."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand retreats leftward away from the cup while remaining empty. | Right hand: transport: Right hand transports the transparent fluted cup leftward and downward toward the glass container with a wooden ring on top."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: place: Right hand places the transparent fluted cup onto the wooden ring on top of the glass container until the cup is stably supported by the ring."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: place_release: Right hand places the glass dripper onto the wooden ring on top of the glass pot and releases the dripper."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: reach: Right hand moves empty toward the stack of filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 848, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: grasp: Right hand grasps the top filter paper from the stack, with fingers adjusting contact position and grip continuously to form a stable hold."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: lift: Right hand lifts the top filter paper upward partially from the stack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: reach: Left hand moves rightward from the left side of the frame to approach the filter paper held by the right hand. | Right hand: lift_transport: Right hand lifts the filter paper from the stack on the right side of the table and transports it leftward to above the glass container."}, {"label": "subtasks", "start_step": 1110, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: fold: Left hand holds the filter paper and adjusts its shape together with the right hand. | Right hand: fold_release: Right hand adjusts the filter paper shape together with the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the filter paper above the glass container without moving. | Right hand: fold_release: Right hand adjusts the filter paper shape together with the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the filter paper above the glass container without moving. | Right hand: reach_grasp: Right hand moves leftward toward the filter paper held by the left hand and grasps the filter paper."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: fold: Left hand holds the filter paper and continues adjusting its shape together with the right hand. | Right hand: reach_grasp: Right hand moves leftward toward the filter paper held by the left hand and grasps the filter paper."}, {"label": "subtasks", "start_step": 1245, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand holds the filter paper and continues adjusting its shape together with the right hand. | Right hand: fold: Right hand holds the filter paper and continues adjusting its shape together with the left hand."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand adjusts its fingers to stably grasp the yellow filter paper between two hands. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the yellow filter paper between two hands."}, {"label": "subtasks", "start_step": 1522, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: fold: Left hand holds the yellow filter paper and folds it cooperatively, forming the paper into a cone shape. | Right hand: fold: Right hand holds the yellow filter paper and folds it cooperatively, forming the paper into a cone shape."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the folded yellow filter paper without any movement. | Right hand: hold_release: Right hand holds the folded yellow filter paper briefly and releases its grip to separate from the paper."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00039", "text": "Left hand: release: Left hand releases the yellow filter paper, with fingers opening to separate from the paper surface. | Right hand: hold: Right hand holds the yellow filter paper without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00040", "text": "Left hand: retreat: Left hand retreats leftward away from the filter paper to the left side of the table. | Right hand: transport: Right hand transports the yellow filter paper to the position above the glass cup, slightly rotating the paper to adjust its orientation."}, {"label": "subtasks", "start_step": 1672, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the yellow filter paper to the position above the glass cup, slightly rotating the paper to adjust its orientation."}, {"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 table without moving. | Right hand: place: Right hand places the yellow filter paper downward into the glass cup, adjusting its position on the inner support ring."}, {"label": "subtasks", "start_step": 1785, "end_step": 2804, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_filter_paper: Right hand makes continuous small pressing and lateral repositioning movements on the cone-shaped filter paper resting on the glass dripper atop the glass cup."}], "episode_index": 7}
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| Right hand: reach: Right hand moves forward toward the clear glass pitcher placed on the black table."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the clear glass pitcher."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: lift: Right hand lifts the clear glass pitcher upward to make it leave the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: place: Right hand places the glass jug onto the black table surface."}, {"label": "goal", "start_step": 121, 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{"label": "subtasks", "start_step": 998, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the top filter paper from the stack and moves it slightly in the air."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the filter paper, which falls back onto the paper stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand contacts and adjusts its grip on the top filter paper of the stack again."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00030", 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retreat: Left hand retreats from the filter paper to the left resting position. | Right hand: transport: Right hand transports the yellow filter paper towards the glass cup, slightly adjusting the orientation of the filter paper."}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the yellow filter paper towards the glass cup, slightly adjusting the orientation of the filter paper."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the yellow filter paper onto the opening of the glass cup."}, {"label": "subtasks", "start_step": 2025, "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 yellow filter paper on the glass cup opening without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the brown filter paper on top of the glass container to adjust its fitting position."}, {"label": "subtasks", "start_step": 2130, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the filter paper towards the upper right side."}], "episode_index": 8}
+{"source_uid": "8c5718dcc434bb57", "num_frames": 2008, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: idle: Right hand remains empty in its initial raised position on the right side of the workspace without active movement toward any object."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "75f0506f-25ea-482e-ba0c-0116bc9be9fc"}, {"label": "valid", "start_step": 0, "end_step": 1858, "id": "sWxndBnvTRP7Q6rpcb-dN"}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: reach: Right hand, with fingers held open, moves down and left toward the clear glass pitcher resting on the black table surface."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: grasp: Right hand inserts fingers into the opening of the clear glass pitcher, adjusting finger positions to form a stable grip on the pitcher while the pitcher remains supported by the table."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: lift: Right hand, holding the clear glass pitcher firmly, moves upward to lift the pitcher completely off the black table surface."}, {"label": "goal", "start_step": 121, "end_step": 183, "id": "c053c667-115d-4bf7-b466-5d030063fef5"}, {"label": "subtasks", "start_step": 135, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: place: Right hand holds the clear glass pitcher, moves downward to set the pitcher on the black tablecloth until the pitcher is stably supported by the table surface."}, {"label": "goal", "start_step": 184, "end_step": 303, "id": "01a77482-4b0a-46f9-87f3-e8079315555e"}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: release_retreat: Right hand opens fingers to release the glass pitcher, moves upward and rightward away from the pitcher to the upper right workspace area."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: reach_grasp: Left hand moves toward the yellow ring-shaped object on the left side of the table, closes fingers to form a stable grasp on the object. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the left table surface without observable movement. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand grips the yellow ring-shaped object on the table and lifts it upward until the ring is completely separated from the table surface. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "goal", "start_step": 304, "end_step": 453, "id": "71354905-f9ce-4df9-b05d-1f1ad315b367"}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand holds the lifted yellow ring-shaped object and moves it down-right to the position directly above the opening of the glass pitcher. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 368, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand lowers the yellow ring-shaped object onto the glass pitcher opening, making slight positional adjustments to set the ring stably on the pitcher. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: retreat: Left hand moves upward and leftward away from the wooden ring resting on the glass pitcher, with no object held. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "goal", "start_step": 454, "end_step": 570, "id": "d503cbba-9757-46d5-8ee5-9f3b0d7225b5"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty above the upper left area of the work surface with no observable movement. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves downward toward the fluted glass dripper on the black tabletop, fingers slightly open. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand closes fingers around the fluted glass dripper, adjusting finger positions to form a stable grasp while the dripper stays on the table. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 570, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand begins lifting the fluted glass dripper upward from the table while maintaining a stable grasp on the dripper. | Right hand: reach: Right hand moves empty from its initial upper right position toward the glass dripper held by the left hand."}, {"label": "goal", "start_step": 571, "end_step": 735, "id": "ceaeeed5-a9dc-4469-b104-b3aaf1a3f18c"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand closes its mechanical fingers around the transparent fluted glass dripper resting on the black work surface. | Right hand: reach: Right hand moves empty from its initial upper right position toward the glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: lift: Left hand lifts the grasped glass dripper vertically upward to raise it completely off the black table surface. | Right hand: reach: Right hand moves empty from its initial upper right position toward the glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 630, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: hold_release: Left hand holds the lifted glass dripper steady in midair and opens its fingers to release the dripper to the opposite hand. | Right hand: grasp: Right hand closes its mechanical fingers around the glass dripper to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the firmly grasped glass dripper downward toward the opening of the glass carafe positioned below."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: place: Right hand slightly rotates the glass dripper while lowering it to rest securely on the wooden ring atop the glass carafe."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand places the transparent glass dripper onto the wooden ring atop the glass jar and releases its grip on the dripper."}, {"label": "goal", "start_step": 736, "end_step": 766, "id": "5da0977b-8f0b-4d23-8871-ae82daeed44c"}, {"label": "goal", "start_step": 767, "end_step": 969, "id": "970248b8-0dc8-43b6-bab7-2817e4b25e55"}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty from above the glass dripper toward the stack of light yellow filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 855, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the top sheet of the light yellow filter paper stack, closing fingers and adjusting contact positions to establish a secure grip."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: lift: Right hand grips the top light brown paper filter on the stacked filters, lifting it upward to fully separate from the supporting stack on the table."}, {"label": "goal", "start_step": 970, "end_step": 1377, "id": "c6d781c5-bae7-4aa0-9cc8-c8aa246be2ec"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted paper filter, moving it horizontally leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: reach: Left hand moves rightward toward the light brown paper filter held by the right hand, with fingers held slightly open. | Right hand: transport: Right hand carries the lifted paper filter, moving it horizontally leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: hold: Right hand holds the paper filter stationary in midair, with no noticeable movement of the hand or filter."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: release_retreat: Right hand opens fingers to release the paper filter, moving upward and rightward away from the filter."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: reach: Right hand moves leftward toward the paper filter now held by the left hand, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1170, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: grasp: Right hand closes fingers around the opposite edge of the paper filter, making small continuous adjustments to the grip and the filter's shape."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: release_retreat: Left hand opens fingers to release the paper filter, moving leftward a short distance away from the filter. | Right hand: grasp: Right hand closes fingers around the opposite edge of the paper filter, making small continuous adjustments to the grip and the filter's shape."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand moves rightward to contact the paper filter again, closing fingers around the filter edge with ongoing slight grip adjustments. | Right hand: grasp: Right hand closes fingers around the opposite edge of the paper filter, making small continuous adjustments to the grip and the filter's shape."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: unfold: Left hand holds the edge of the yellow folded filter paper and moves slightly to coordinate unfolding the filter paper. | Right hand: unfold: Right hand holds the upper edge of the yellow folded filter paper and moves upward to unfold the filter paper into a cone shape."}, {"label": "goal", "start_step": 1378, "end_step": 1485, "id": "b078a1cb-6108-4df3-ac86-0a662f882c8e"}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the edge of the unfolded yellow filter paper steadily without observable movement or hand shape change. | Right hand: hold: Right hand holds the upper edge of the unfolded yellow filter paper steadily without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: release: Left hand opens its thumb gradually to release the edge of the yellow filter paper, separating from the paper surface. | Right hand: hold: Right hand holds the upper edge of the unfolded yellow filter paper steadily without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: retreat: Left hand moves leftward and upward away from the area near the paper filter, retracting from the operation zone to the left side of the workspace. | Right hand: transport: Right hand holds the light brown paper filter and moves it vertically downward toward the glass dripper on the black table surface."}, {"label": "goal", "start_step": 1486, "end_step": 1590, "id": "88c3fc48-36c5-49e0-92a1-52524fe97b49"}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: transport: Right hand holds the light brown paper filter and moves it vertically downward toward the glass dripper on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: place: Right hand lowers the light brown paper filter into the glass dripper, setting it to rest on the dripper's upper supporting ring."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: hold: Right hand holds the positioned light brown paper filter on the glass dripper without any visible movement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: press_release: Right hand presses the tilted edge of the brown coffee filter on the glass dripper downward to flatten it, lifting the fingertip free of the filter surface as fingers open."}, {"label": "goal", "start_step": 1591, "end_step": 1806, "id": "c28c889a-175e-4279-8dbf-0f5af7d6767d"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: reach: Right hand moves empty downward toward the top surface of the brown coffee filter on the glass dripper."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: grasp: Right hand contacts the surface of the brown coffee filter, adjusting finger positions slightly to establish a stable hold on the filter."}, {"label": "subtasks", "start_step": 1762, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: hold: Right hand holds the brown coffee filter on the glass dripper without any observable movement of the hand or the filter."}, {"label": "home", "start_step": 1859, "end_step": 2007, "id": "HAZgU5dtjZRfOlzoGFtNX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: idle: Right hand remains empty in its initial raised position on the right side of the workspace without active movement toward any object."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: reach: Right hand, with fingers held open, moves down and left toward the clear glass pitcher resting on the black table surface."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: grasp: Right hand inserts fingers into the opening of the clear glass pitcher, adjusting finger positions to form a stable grip on the pitcher while the pitcher remains supported by the table."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: lift: Right hand, holding the clear glass pitcher firmly, moves upward to lift the pitcher completely off the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: place: Right hand holds the clear glass pitcher, moves downward to set the pitcher on the black tablecloth until the pitcher is stably supported by the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: release_retreat: Right hand opens fingers to release the glass pitcher, moves upward and rightward away from the pitcher to the upper right workspace area."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: reach_grasp: Left hand moves toward the yellow ring-shaped object on the left side of the table, closes fingers to form a stable grasp on the object. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the left table surface without observable movement. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand grips the yellow ring-shaped object on the table and lifts it upward until the ring is completely separated from the table surface. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand holds the lifted yellow ring-shaped object and moves it down-right to the position directly above the opening of the glass pitcher. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 368, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand lowers the yellow ring-shaped object onto the glass pitcher opening, making slight positional adjustments to set the ring stably on the pitcher. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: retreat: Left hand moves upward and leftward away from the wooden ring resting on the glass pitcher, with no object held. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty above the upper left area of the work surface with no observable movement. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves downward toward the fluted glass dripper on the black tabletop, fingers slightly open. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand closes fingers around the fluted glass dripper, adjusting finger positions to form a stable grasp while the dripper stays on the table. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 570, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand begins lifting the fluted glass dripper upward from the table while maintaining a stable grasp on the dripper. | Right hand: reach: Right hand moves empty from its initial upper right position toward the glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand closes its mechanical fingers around the transparent fluted glass dripper resting on the black work surface. | Right hand: reach: Right hand moves empty from its initial upper right position toward the glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: lift: Left hand lifts the grasped glass dripper vertically upward to raise it completely off the black table surface. | Right hand: reach: Right hand moves empty from its initial upper right position toward the glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 630, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: hold_release: Left hand holds the lifted glass dripper steady in midair and opens its fingers to release the dripper to the opposite hand. | Right hand: grasp: Right hand closes its mechanical fingers around the glass dripper to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the firmly grasped glass dripper downward toward the opening of the glass carafe positioned below."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: place: Right hand slightly rotates the glass dripper while lowering it to rest securely on the wooden ring atop the glass carafe."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand places the transparent glass dripper onto the wooden ring atop the glass jar and releases its grip on the dripper."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty from above the glass dripper toward the stack of light yellow filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 855, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the top sheet of the light yellow filter paper stack, closing fingers and adjusting contact positions to establish a secure grip."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: lift: Right hand grips the top light brown paper filter on the stacked filters, lifting it upward to fully separate from the supporting stack on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted paper filter, moving it horizontally leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: reach: Left hand moves rightward toward the light brown paper filter held by the right hand, with fingers held slightly open. | Right hand: transport: Right hand carries the lifted paper filter, moving it horizontally leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: hold: Right hand holds the paper filter stationary in midair, with no noticeable movement of the hand or filter."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: release_retreat: Right hand opens fingers to release the paper filter, moving upward and rightward away from the filter."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: reach: Right hand moves leftward toward the paper filter now held by the left hand, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1170, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: grasp: Right hand closes fingers around the opposite edge of the paper filter, making small continuous adjustments to the grip and the filter's shape."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: release_retreat: Left hand opens fingers to release the paper filter, moving leftward a short distance away from the filter. | Right hand: grasp: Right hand closes fingers around the opposite edge of the paper filter, making small continuous adjustments to the grip and the filter's shape."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand moves rightward to contact the paper filter again, closing fingers around the filter edge with ongoing slight grip adjustments. | Right hand: grasp: Right hand closes fingers around the opposite edge of the paper filter, making small continuous adjustments to the grip and the filter's shape."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: unfold: Left hand holds the edge of the yellow folded filter paper and moves slightly to coordinate unfolding the filter paper. | Right hand: unfold: Right hand holds the upper edge of the yellow folded filter paper and moves upward to unfold the filter paper into a cone shape."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the edge of the unfolded yellow filter paper steadily without observable movement or hand shape change. | Right hand: hold: Right hand holds the upper edge of the unfolded yellow filter paper steadily without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: release: Left hand opens its thumb gradually to release the edge of the yellow filter paper, separating from the paper surface. | Right hand: hold: Right hand holds the upper edge of the unfolded yellow filter paper steadily without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: retreat: Left hand moves leftward and upward away from the area near the paper filter, retracting from the operation zone to the left side of the workspace. | Right hand: transport: Right hand holds the light brown paper filter and moves it vertically downward toward the glass dripper on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: transport: Right hand holds the light brown paper filter and moves it vertically downward toward the glass dripper on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: place: Right hand lowers the light brown paper filter into the glass dripper, setting it to rest on the dripper's upper supporting ring."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: hold: Right hand holds the positioned light brown paper filter on the glass dripper without any visible movement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: press_release: Right hand presses the tilted edge of the brown coffee filter on the glass dripper downward to flatten it, lifting the fingertip free of the filter surface as fingers open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: reach: Right hand moves empty downward toward the top surface of the brown coffee filter on the glass dripper."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: grasp: Right hand contacts the surface of the brown coffee filter, adjusting finger positions slightly to establish a stable hold on the filter."}, {"label": "subtasks", "start_step": 1762, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: hold: Right hand holds the brown coffee filter on the glass dripper without any observable movement of the hand or the filter."}], "episode_index": 9}
+{"source_uid": "e27cad77465e360f", "num_frames": 2210, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves upward away from the tabletop objects, remaining empty. | Right hand: reach: Right hand moves leftward and downward toward the glass cup on the black table, remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 123, "id": "868914eb-a65a-4610-b32b-b12ff91be5eb"}, {"label": "valid", "start_step": 0, "end_step": 2061, "id": "rKtft1wbA2R3fVdGL4Aa-"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves leftward and downward toward the glass cup on the black table, remaining empty."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand inserts fingers into the glass cup and adjusts fingers to grasp the white object inside the cup."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the glass container with a metal spoon off the table and transports it forward to a lower position above the table."}, {"label": "goal", "start_step": 124, "end_step": 207, "id": "8c9d4718-d582-4889-b70e-2a2e003d7828"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place: Right hand places the glass container with a metal spoon onto the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the glass container with a metal spoon on the black table surface without moving."}, {"label": "goal", "start_step": 208, "end_step": 342, "id": "64b7e0b2-d24c-4336-bb05-dbaa02fb9cc0"}, {"label": "subtasks", "start_step": 210, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release_retreat: Right hand releases the transparent object inside the glass pitcher with fingers opening, then moves upward away from the pitcher."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves downward and rightward toward the yellow ring-shaped object on the table, with fingers slightly open. | Right hand: release_retreat: Right hand releases the transparent object inside the glass pitcher with fingers opening, then moves upward away from the pitcher."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: reach: Left hand moves downward and rightward toward the yellow ring-shaped object on the table, with fingers slightly open. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand grasps the yellow ring-shaped object on the table, with fingers closing to adjust the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand grasps the light-colored ring-shaped object on the table, with fingers closing to adjust the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "goal", "start_step": 343, "end_step": 459, "id": "02901825-b811-4232-833c-031bc48b62c2"}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00013", "text": "Left hand: lift_transport: Left hand lifts the light-colored ring-shaped object off the table and transports it rightward to the area above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: mate: Left hand fits the light-colored ring-shaped object onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00015", "text": "Left hand: hold_release: Left hand holds the wooden ring on the glass jar opening and then releases it. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "goal", "start_step": 460, "end_step": 585, "id": "1a1eb83d-f97d-4e1a-80c5-06ed13182034"}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand moves toward the glass funnel on the left side of the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand closes its fingers to grasp the glass funnel on the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00018", "text": "Left hand: lift: Left hand lifts the glass funnel upward off the black table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: transport: Left hand carries the glass funnel moving upward in the air. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00020", "text": "Left hand: lift: Left hand lifts the transparent fluted object from the black table surface until it is fully off the table. | Right hand: reach: Right hand reaches leftward toward the transparent fluted object held by the left hand."}, {"label": "goal", "start_step": 586, "end_step": 738, "id": "19bad00b-a518-4a6a-bef6-a8be3ff1344c"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand transports the transparent fluted object rightward toward the center of the table. | Right hand: reach: Right hand reaches leftward toward the transparent fluted object held by the left hand."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the transparent fluted object steady in mid-air without moving. | Right hand: reach: Right hand reaches leftward toward the transparent fluted object held by the left hand."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the transparent fluted object steady in mid-air without moving. | Right hand: grasp: Right hand grasps the transparent fluted object, with fingers closing around it and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand releases the transparent fluted object, with fingers opening to separate from the object. | Right hand: grasp: Right hand grasps the transparent fluted object, with fingers closing around it and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the transparent fluted object rightward and downward toward the glass jar with a wooden ring on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the transparent fluted object into the opening of the glass jar with a wooden ring."}, {"label": "goal", "start_step": 739, "end_step": 759, "id": "e22ce30d-b3b5-4b2c-93cd-2f33fb925324"}, {"label": "goal", "start_step": 760, "end_step": 957, "id": "71230899-0ac3-4b3a-b38c-15c19739e36e"}, {"label": "subtasks", "start_step": 765, "end_step": 779, "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 transparent fluted cup, with fingers opening to separate from the cup."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the fan-shaped light-colored object on the right side of the table."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fan-shaped light-colored object on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the fan-shaped light-colored object on the table without any observable movement."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "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 one side of the fan-shaped light-colored object upward off the table surface."}, {"label": "goal", "start_step": 958, "end_step": 1449, "id": "49a9e3b4-a1b9-4af2-b6af-b8401ed61db2"}, {"label": "subtasks", "start_step": 960, "end_step": 967, "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 top filter paper from the stack on the right side of the table."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "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 filter paper off the stack and transports it leftward to the position above the glass."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00034", "text": "Left hand: reach: Left hand moves rightward towards the filter paper held by the right hand. | Right hand: lift_transport: Right hand lifts the filter paper off the stack and transports it leftward to the position above the glass."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00035", "text": "Left hand: reach: Left hand moves rightward towards the filter paper held by the right hand. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1139, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand contacts the filter paper and adjusts its fingers to grasp the filter paper together with the right hand. | Right hand: grasp: Right hand adjusts its grasp on the filter paper together with the left hand."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the filter paper steady above the glass without moving. | Right hand: release_retreat: Right hand releases the filter paper and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1178, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: fold: Left hand folds the filter paper together with the right hand to adjust its shape. | Right hand: fold: Right hand folds the filter paper together with the left hand to adjust its shape."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: release_reach: Left hand releases the filter paper and reaches toward the filter paper again. | Right hand: transport: Right hand transports the filter paper downward toward the opening of the glass."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: grasp_transport: Left hand grasps the filter paper and moves it downward toward the glass opening together with the right hand. | Right hand: transport: Right hand transports the filter paper downward toward the opening of the glass."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00041", "text": "Left hand: grasp: Left hand adjusts its fingers to grasp the left edge of the yellow paper, forming a stable grip. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grip on the upper part of the yellow paper."}, {"label": "goal", "start_step": 1450, "end_step": 1710, "id": "97682ecc-d41f-468b-aa46-cc9a3e13bda6"}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: grasp: Left hand adjusts its fingers to grasp the left edge of the yellow paper, forming a stable grip. | Right hand: fold: Right hand holds the upper part of the yellow paper and adjusts its position to assist in folding the paper."}, {"label": "subtasks", "start_step": 1485, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: fold: Left hand folds the yellow paper by moving the gripped left edge toward the right side. | Right hand: fold: Right hand holds the upper part of the yellow paper and adjusts its position to assist in folding the paper."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00044", "text": "Left hand: release_retreat: Left hand releases the yellow folded paper and retreats leftward to the left side of the table. | Right hand: grasp: Right hand adjusts its grasp on the yellow folded paper with slight finger closures to stabilize the paper."}, {"label": "goal", "start_step": 1711, "end_step": 1788, "id": "3404f077-299d-4a90-b83b-8219d8579c89"}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: release_retreat: Left hand releases the yellow folded paper and retreats leftward to the left side of the table. | Right hand: transport: Right hand transports the yellow folded paper rightward and slightly downward to the position above the glass container with a wooden ring, and rotates the paper slightly to align its opening with the container."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the yellow folded paper rightward and slightly downward to the position above the glass container with a wooden ring, and rotates the paper slightly to align its opening with the container."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the yellow folded paper downward into the glass container with a wooden ring until the paper is supported by the container."}, {"label": "subtasks", "start_step": 1785, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the conical filter paper with the filter cup on the glass bottle, adjusting the filter paper to fit the inner wall of the filter cup."}, {"label": "goal", "start_step": 1789, "end_step": 2007, "id": "88caeb0c-0bb8-4f47-9e58-f9d67787fcc2"}, {"label": "home", "start_step": 2062, "end_step": 2209, "id": "B1UeI3u5kiEdCGSNhCvp7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves upward away from the tabletop objects, remaining empty. | Right hand: reach: Right hand moves leftward and downward toward the glass cup on the black table, remaining empty."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves leftward and downward toward the glass cup on the black table, remaining empty."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand inserts fingers into the glass cup and adjusts fingers to grasp the white object inside the cup."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the glass container with a metal spoon off the table and transports it forward to a lower position above the table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place: Right hand places the glass container with a metal spoon onto the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the glass container with a metal spoon on the black table surface without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release_retreat: Right hand releases the transparent object inside the glass pitcher with fingers opening, then moves upward away from the pitcher."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves downward and rightward toward the yellow ring-shaped object on the table, with fingers slightly open. | Right hand: release_retreat: Right hand releases the transparent object inside the glass pitcher with fingers opening, then moves upward away from the pitcher."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: reach: Left hand moves downward and rightward toward the yellow ring-shaped object on the table, with fingers slightly open. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand grasps the yellow ring-shaped object on the table, with fingers closing to adjust the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand grasps the light-colored ring-shaped object on the table, with fingers closing to adjust the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00013", "text": "Left hand: lift_transport: Left hand lifts the light-colored ring-shaped object off the table and transports it rightward to the area above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: mate: Left hand fits the light-colored ring-shaped object onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00015", "text": "Left hand: hold_release: Left hand holds the wooden ring on the glass jar opening and then releases it. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand moves toward the glass funnel on the left side of the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand closes its fingers to grasp the glass funnel on the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00018", "text": "Left hand: lift: Left hand lifts the glass funnel upward off the black table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: transport: Left hand carries the glass funnel moving upward in the air. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00020", "text": "Left hand: lift: Left hand lifts the transparent fluted object from the black table surface until it is fully off the table. | Right hand: reach: Right hand reaches leftward toward the transparent fluted object held by the left hand."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand transports the transparent fluted object rightward toward the center of the table. | Right hand: reach: Right hand reaches leftward toward the transparent fluted object held by the left hand."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the transparent fluted object steady in mid-air without moving. | Right hand: reach: Right hand reaches leftward toward the transparent fluted object held by the left hand."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the transparent fluted object steady in mid-air without moving. | Right hand: grasp: Right hand grasps the transparent fluted object, with fingers closing around it and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand releases the transparent fluted object, with fingers opening to separate from the object. | Right hand: grasp: Right hand grasps the transparent fluted object, with fingers closing around it and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the transparent fluted object rightward and downward toward the glass jar with a wooden ring on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the transparent fluted object into the opening of the glass jar with a wooden ring."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "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 transparent fluted cup, with fingers opening to separate from the cup."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the fan-shaped light-colored object on the right side of the table."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fan-shaped light-colored object on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the fan-shaped light-colored object on the table without any observable movement."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "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 one side of the fan-shaped light-colored object upward off the table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 967, "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 top filter paper from the stack on the right side of the table."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "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 filter paper off the stack and transports it leftward to the position above the glass."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00034", "text": "Left hand: reach: Left hand moves rightward towards the filter paper held by the right hand. | Right hand: lift_transport: Right hand lifts the filter paper off the stack and transports it leftward to the position above the glass."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00035", "text": "Left hand: reach: Left hand moves rightward towards the filter paper held by the right hand. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1139, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand contacts the filter paper and adjusts its fingers to grasp the filter paper together with the right hand. | Right hand: grasp: Right hand adjusts its grasp on the filter paper together with the left hand."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the filter paper steady above the glass without moving. | Right hand: release_retreat: Right hand releases the filter paper and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1178, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: fold: Left hand folds the filter paper together with the right hand to adjust its shape. | Right hand: fold: Right hand folds the filter paper together with the left hand to adjust its shape."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: release_reach: Left hand releases the filter paper and reaches toward the filter paper again. | Right hand: transport: Right hand transports the filter paper downward toward the opening of the glass."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: grasp_transport: Left hand grasps the filter paper and moves it downward toward the glass opening together with the right hand. | Right hand: transport: Right hand transports the filter paper downward toward the opening of the glass."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00041", "text": "Left hand: grasp: Left hand adjusts its fingers to grasp the left edge of the yellow paper, forming a stable grip. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grip on the upper part of the yellow paper."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: grasp: Left hand adjusts its fingers to grasp the left edge of the yellow paper, forming a stable grip. | Right hand: fold: Right hand holds the upper part of the yellow paper and adjusts its position to assist in folding the paper."}, {"label": "subtasks", "start_step": 1485, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: fold: Left hand folds the yellow paper by moving the gripped left edge toward the right side. | Right hand: fold: Right hand holds the upper part of the yellow paper and adjusts its position to assist in folding the paper."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00044", "text": "Left hand: release_retreat: Left hand releases the yellow folded paper and retreats leftward to the left side of the table. | Right hand: grasp: Right hand adjusts its grasp on the yellow folded paper with slight finger closures to stabilize the paper."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: release_retreat: Left hand releases the yellow folded paper and retreats leftward to the left side of the table. | Right hand: transport: Right hand transports the yellow folded paper rightward and slightly downward to the position above the glass container with a wooden ring, and rotates the paper slightly to align its opening with the container."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the yellow folded paper rightward and slightly downward to the position above the glass container with a wooden ring, and rotates the paper slightly to align its opening with the container."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the yellow folded paper downward into the glass container with a wooden ring until the paper is supported by the container."}, {"label": "subtasks", "start_step": 1785, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the conical filter paper with the filter cup on the glass bottle, adjusting the filter paper to fit the inner wall of the filter cup."}], "episode_index": 10}
+{"source_uid": "70a8b92926f834b3", "num_frames": 3225, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 glass pitcher placed on the black table with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "8d344f62-81f5-4a5c-b132-e593d800ee56"}, {"label": "valid", "start_step": 0, "end_step": 3075, "id": "9fh_MsnnJy9CaWjXoAqig"}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the glass pitcher on the black table, adjusting the grip slightly."}, {"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 table without moving. | Right hand: lift: Right hand lifts the glass jar from the right side of the black table surface."}, {"label": "goal", "start_step": 127, "end_step": 198, "id": "948fcaf7-6a63-4510-83c4-b947d7c03802"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the glass jar horizontally towards the center of the table."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "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 places the glass jar onto the center area of the black table surface until it is supported stably."}, {"label": "subtasks", "start_step": 188, "end_step": 194, "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 glass jar, fingers gradually open and separate from the jar."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the yellow ring placed on the black table. | Right hand: release: Right hand releases the glass jar, fingers gradually open and separate from the jar."}, {"label": "goal", "start_step": 199, "end_step": 336, "id": "512b48bf-42ae-4963-b38a-d0b1324c8349"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves towards the yellow ring placed on the black table. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand adjusts fingers to grasp the yellow ring on the black table. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "goal", "start_step": 337, "end_step": 447, "id": "651f68a1-d315-4e48-96c2-c4c6de8dbeea"}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: lift: Left hand lifts the yellow ring-shaped object off the black table surface. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: transport: Left hand transports the yellow ring-shaped object towards the glass pitcher on the table. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand places the yellow ring-shaped object onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: press: Left hand presses the yellow ring-shaped object down to fit onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: place_release: Left hand places the wooden ring onto the mouth of the glass pot and releases its grasp on the ring. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "goal", "start_step": 448, "end_step": 564, "id": "d8db57cc-c819-4794-9f70-f7a078d70cc9"}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: reach: Left hand moves towards the transparent glass funnel placed on the black tabletop. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: grasp: Left hand touches the transparent glass funnel and adjusts fingers to form a stable grasp. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: lift: Left hand lifts the transparent filter cup from the black table surface. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "goal", "start_step": 565, "end_step": 717, "id": "3acece14-d064-4328-b6e6-afe925be67b3"}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: transport: Left hand transports the transparent filter cup rightward towards the right hand. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00019", "text": "Left hand: transport: Left hand transports the transparent filter cup rightward towards the right hand. | Right hand: reach: Right hand reaches leftward towards the transparent filter cup held by the left hand."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: transport: Left hand transports the transparent filter cup rightward towards the right hand. | Right hand: grasp: Right hand grasps the transparent filter cup passed by the left hand."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand releases the transparent filter cup to the right hand. | Right hand: grasp: Right hand grasps the transparent filter cup passed by the left hand."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: transport: Right hand transports the transparent filter cup downward towards the glass pot with a wooden ring."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: place: Right hand places the glass funnel onto the wooden ring on top of the glass pot."}, {"label": "goal", "start_step": 718, "end_step": 744, "id": "8356da9f-d2d2-4af4-82d0-08f0f6e8423f"}, {"label": "goal", "start_step": 745, "end_step": 1476, "id": "2e4a22d9-c301-4a17-a731-312ed24c0a60"}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: reach: Right hand moves towards the stack of fan-shaped filter papers on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the top filter paper from the stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: place_release: Right hand places the grasped filter paper back onto the stack and releases the grasp."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: reach: Right hand moves towards the filter paper stack again to approach a new filter paper."}, {"label": "subtasks", "start_step": 1260, "end_step": 1469, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp a new fan-shaped filter paper from the stack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: lift_transport: Right hand lifts the filter paper from the black table and transports it to the position above the glass."}, {"label": "goal", "start_step": 1477, "end_step": 1944, "id": "2828ebcd-e8eb-4a68-8681-98d63f041d7d"}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1650, "end_step": 1657, "id": "reasoning-language-00032", "text": "Left hand: grasp: Left hand grasps the filter paper transferred from the right hand. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand grasps the filter paper transferred from the right hand. | Right hand: release: Right hand releases the filter paper to transfer it to the left hand."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00034", "text": "Left hand: fold: Left hand holds the filter paper and folds it to form a conical shape together with the right hand. | Right hand: reach: Right hand reaches towards the edge of the filter paper held by the left hand."}, {"label": "subtasks", "start_step": 1770, "end_step": 1934, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand holds the filter paper and folds it to form a conical shape together with the right hand. | Right hand: fold: Right hand folds the edge of the filter paper to form a conical shape together with the left hand."}, {"label": "subtasks", "start_step": 1935, "end_step": 1987, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand adjusts its fingers to form stable grasp on the filter paper held by the right hand. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the filter paper before folding."}, {"label": "goal", "start_step": 1945, "end_step": 2091, "id": "66dcf583-966f-43c0-9bc4-150830f3ad80"}, {"label": "subtasks", "start_step": 1988, "end_step": 2061, "id": "reasoning-language-00037", "text": "Left hand: fold: Left hand cooperates with right hand to fold the filter paper. | Right hand: fold: Right hand cooperates with left hand to fold the filter paper."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the folded filter paper without movement. | Right hand: hold: Right hand holds the folded filter paper without movement."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: grasp: Left hand adjusts its grasp on the filter paper cooperatively with the right hand. | Right hand: grasp: Right hand adjusts its grasp on the filter paper cooperatively with the left hand."}, {"label": "goal", "start_step": 2092, "end_step": 2250, "id": "0d761445-bf7d-46d6-8b88-eff0f72c3db1"}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "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 filter paper towards the top of the glass cup."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "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 filter paper onto the filter ring on the glass cup."}, {"label": "subtasks", "start_step": 2250, "end_step": 2579, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "goal", "start_step": 2251, "end_step": 3009, "id": "b8906af6-6b5f-4adc-98c7-32580cfdb90f"}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00043", "text": "Left hand: reach: Left hand moves right towards the filter paper placed on top of the glass cup. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2618, "end_step": 2917, "id": "reasoning-language-00044", "text": "Left hand: other:assist_adjust_filter_paper: Left hand touches the edge of the filter paper to assist in adjusting its position on the glass cup. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2918, "end_step": 2977, "id": "reasoning-language-00045", "text": "Left hand: retreat: Left hand moves back towards the left side of the operating area. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2978, "end_step": 3014, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "home", "start_step": 3076, "end_step": 3224, "id": "B00JorWA1yti949AfiOAS"}], "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 glass pitcher placed on the black table with fingers open."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the glass pitcher on the black table, adjusting the grip slightly."}, {"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 table without moving. | Right hand: lift: Right hand lifts the glass jar from the right side of the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the glass jar horizontally towards the center of the table."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "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 places the glass jar onto the center area of the black table surface until it is supported stably."}, {"label": "subtasks", "start_step": 188, "end_step": 194, "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 glass jar, fingers gradually open and separate from the jar."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the yellow ring placed on the black table. | Right hand: release: Right hand releases the glass jar, fingers gradually open and separate from the jar."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves towards the yellow ring placed on the black table. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand adjusts fingers to grasp the yellow ring on the black table. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: lift: Left hand lifts the yellow ring-shaped object off the black table surface. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: transport: Left hand transports the yellow ring-shaped object towards the glass pitcher on the table. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand places the yellow ring-shaped object onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: press: Left hand presses the yellow ring-shaped object down to fit onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: place_release: Left hand places the wooden ring onto the mouth of the glass pot and releases its grasp on the ring. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: reach: Left hand moves towards the transparent glass funnel placed on the black tabletop. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: grasp: Left hand touches the transparent glass funnel and adjusts fingers to form a stable grasp. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: lift: Left hand lifts the transparent filter cup from the black table surface. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: transport: Left hand transports the transparent filter cup rightward towards the right hand. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00019", "text": "Left hand: transport: Left hand transports the transparent filter cup rightward towards the right hand. | Right hand: reach: Right hand reaches leftward towards the transparent filter cup held by the left hand."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: transport: Left hand transports the transparent filter cup rightward towards the right hand. | Right hand: grasp: Right hand grasps the transparent filter cup passed by the left hand."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand releases the transparent filter cup to the right hand. | Right hand: grasp: Right hand grasps the transparent filter cup passed by the left hand."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: transport: Right hand transports the transparent filter cup downward towards the glass pot with a wooden ring."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: place: Right hand places the glass funnel onto the wooden ring on top of the glass pot."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: reach: Right hand moves towards the stack of fan-shaped filter papers on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the top filter paper from the stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: place_release: Right hand places the grasped filter paper back onto the stack and releases the grasp."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: reach: Right hand moves towards the filter paper stack again to approach a new filter paper."}, {"label": "subtasks", "start_step": 1260, "end_step": 1469, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp a new fan-shaped filter paper from the stack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: lift_transport: Right hand lifts the filter paper from the black table and transports it to the position above the glass."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1650, "end_step": 1657, "id": "reasoning-language-00032", "text": "Left hand: grasp: Left hand grasps the filter paper transferred from the right hand. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand grasps the filter paper transferred from the right hand. | Right hand: release: Right hand releases the filter paper to transfer it to the left hand."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00034", "text": "Left hand: fold: Left hand holds the filter paper and folds it to form a conical shape together with the right hand. | Right hand: reach: Right hand reaches towards the edge of the filter paper held by the left hand."}, {"label": "subtasks", "start_step": 1770, "end_step": 1934, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand holds the filter paper and folds it to form a conical shape together with the right hand. | Right hand: fold: Right hand folds the edge of the filter paper to form a conical shape together with the left hand."}, {"label": "subtasks", "start_step": 1935, "end_step": 1987, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand adjusts its fingers to form stable grasp on the filter paper held by the right hand. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the filter paper before folding."}, {"label": "subtasks", "start_step": 1988, "end_step": 2061, "id": "reasoning-language-00037", "text": "Left hand: fold: Left hand cooperates with right hand to fold the filter paper. | Right hand: fold: Right hand cooperates with left hand to fold the filter paper."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the folded filter paper without movement. | Right hand: hold: Right hand holds the folded filter paper without movement."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: grasp: Left hand adjusts its grasp on the filter paper cooperatively with the right hand. | Right hand: grasp: Right hand adjusts its grasp on the filter paper cooperatively with the left hand."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "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 filter paper towards the top of the glass cup."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "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 filter paper onto the filter ring on the glass cup."}, {"label": "subtasks", "start_step": 2250, "end_step": 2579, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00043", "text": "Left hand: reach: Left hand moves right towards the filter paper placed on top of the glass cup. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2618, "end_step": 2917, "id": "reasoning-language-00044", "text": "Left hand: other:assist_adjust_filter_paper: Left hand touches the edge of the filter paper to assist in adjusting its position on the glass cup. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2918, "end_step": 2977, "id": "reasoning-language-00045", "text": "Left hand: retreat: Left hand moves back towards the left side of the operating area. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2978, "end_step": 3014, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}], "episode_index": 11}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 342, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 498, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 615, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 804, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 828, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 957, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1587, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1588, "end_step": 1854, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1855, "end_step": 1950, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1951, "end_step": 2067, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 342, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 498, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 615, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 804, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 828, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 957, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1587, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1588, "end_step": 1854, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1855, "end_step": 1950, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1951, "end_step": 2067, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. 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"subtasks", "start_step": 448, "end_step": 570, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 729, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 747, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 748, "end_step": 1218, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1758, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1759, "end_step": 1887, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1888, "end_step": 1956, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1957, "end_step": 2115, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 147, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 148, "end_step": 225, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 342, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 447, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 448, "end_step": 570, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 729, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 747, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 748, "end_step": 1218, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1758, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1759, "end_step": 1887, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1888, "end_step": 1956, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1957, "end_step": 2115, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 171, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 267, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 268, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 480, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 648, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 1458, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1875, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1876, "end_step": 2079, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2080, "end_step": 2184, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2185, "end_step": 2310, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 171, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 267, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 268, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 480, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 648, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 1458, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1875, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1876, "end_step": 2079, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2080, "end_step": 2184, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2185, "end_step": 2310, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
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"subtasks", "start_step": 439, "end_step": 573, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 744, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 765, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 942, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 1419, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1560, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1665, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1666, "end_step": 1827, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 312, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 438, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 573, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 744, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 765, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 942, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 1419, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1560, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1665, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1666, "end_step": 1827, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
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"subtasks", "start_step": 454, "end_step": 591, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 768, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 789, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 1140, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1662, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1663, "end_step": 1815, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1816, "end_step": 1959, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1960, "end_step": 2115, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 189, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 303, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 453, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 454, "end_step": 591, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 768, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 789, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 1140, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1662, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1663, "end_step": 1815, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1816, "end_step": 1959, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1960, "end_step": 2115, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 306, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 498, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 672, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 840, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 859, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 860, "end_step": 1054, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1055, "end_step": 1564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1565, "end_step": 1732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1733, "end_step": 1816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1817, "end_step": 1930, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 306, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 498, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 672, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 840, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 859, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 860, "end_step": 1054, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1055, "end_step": 1564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1565, "end_step": 1732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1733, "end_step": 1816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1817, "end_step": 1930, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 117, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 118, "end_step": 189, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 297, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 420, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 552, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 702, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 723, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 927, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1407, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1408, "end_step": 1563, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1564, "end_step": 1719, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1720, "end_step": 1875, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 117, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 118, "end_step": 189, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 297, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 420, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 552, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 702, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 723, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 927, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
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"subtasks", "start_step": 418, "end_step": 534, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 732, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 750, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 1095, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1587, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1588, "end_step": 1803, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1804, "end_step": 1899, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1900, "end_step": 2082, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 112, "end_step": 183, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 279, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 417, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 534, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 732, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 750, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 1095, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1587, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1588, "end_step": 1803, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1804, "end_step": 1899, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1900, "end_step": 2082, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
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"subtasks", "start_step": 433, "end_step": 567, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 759, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 777, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 921, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 922, "end_step": 1365, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1366, "end_step": 1605, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1606, "end_step": 1695, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1696, "end_step": 1803, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 183, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 432, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 567, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 759, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 777, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 921, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 922, "end_step": 1365, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1366, "end_step": 1605, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1606, "end_step": 1695, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1696, "end_step": 1803, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
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"subtasks", "start_step": 427, "end_step": 552, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 708, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 723, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 975, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1653, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1654, "end_step": 1878, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1879, "end_step": 1980, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1981, "end_step": 2106, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 318, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 426, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 552, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 708, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 723, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 975, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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"subtasks", "start_step": 427, "end_step": 558, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 717, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 732, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 1299, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1300, "end_step": 1704, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1705, "end_step": 1821, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1822, "end_step": 1932, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1933, "end_step": 2208, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 321, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 426, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 558, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 717, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 732, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 1299, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1300, "end_step": 1704, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1705, "end_step": 1821, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1822, "end_step": 1932, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1933, "end_step": 2208, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 10, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 336, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 462, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 606, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 756, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 933, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1593, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1594, "end_step": 1740, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1741, "end_step": 1833, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1834, "end_step": 1941, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 336, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 462, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 606, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 756, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 933, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1593, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1594, "end_step": 1740, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1741, "end_step": 1833, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1834, "end_step": 1941, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 285, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 504, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 765, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 789, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 966, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1461, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1462, "end_step": 1629, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1630, "end_step": 1722, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1723, "end_step": 1758, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 285, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 504, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 765, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 789, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 966, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1461, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1462, "end_step": 1629, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1630, "end_step": 1722, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1723, "end_step": 1758, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
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"subtasks", "start_step": 405, "end_step": 524, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 686, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 698, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 699, "end_step": 842, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 843, "end_step": 1325, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1326, "end_step": 1529, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1530, "end_step": 1601, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1602, "end_step": 1817, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 178, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 278, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 404, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 405, "end_step": 524, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 686, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 698, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 699, "end_step": 842, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 843, "end_step": 1325, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1326, "end_step": 1529, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1530, "end_step": 1601, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1602, "end_step": 1817, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 189, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 315, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 531, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 684, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 696, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 933, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1362, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1449, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1450, "end_step": 1539, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1540, "end_step": 1866, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 189, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 315, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 531, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 684, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 696, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 933, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1362, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1449, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1450, "end_step": 1539, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1540, "end_step": 1866, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 105, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 106, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 288, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 423, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 531, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 675, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 696, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 846, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 1233, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1443, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1444, "end_step": 1533, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1534, "end_step": 1641, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 105, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 106, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 288, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 423, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 531, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 675, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 696, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 846, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 1233, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1443, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1444, "end_step": 1533, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1534, "end_step": 1641, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
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"subtasks", "start_step": 397, "end_step": 507, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 648, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 822, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 1413, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1414, "end_step": 1518, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1611, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1612, "end_step": 1761, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 279, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 396, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 507, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 648, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 822, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 1413, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1414, "end_step": 1518, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1611, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1612, "end_step": 1761, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
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"subtasks", "start_step": 418, "end_step": 543, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 702, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 732, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 873, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 874, "end_step": 1425, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1426, "end_step": 1635, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1636, "end_step": 1725, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1726, "end_step": 1923, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 96, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 97, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 285, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 417, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 543, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 702, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 732, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 873, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 874, "end_step": 1425, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1426, "end_step": 1635, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1636, "end_step": 1725, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1726, "end_step": 1923, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 112, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 309, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 310, "end_step": 393, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 516, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 681, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 708, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 885, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 1350, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1467, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1468, "end_step": 1563, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1564, "end_step": 1941, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 112, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 309, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 310, "end_step": 393, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 516, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 681, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 708, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 885, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 1350, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1467, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1468, "end_step": 1563, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1564, "end_step": 1941, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
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"subtasks", "start_step": 355, "end_step": 450, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 597, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 738, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1320, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1407, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1408, "end_step": 1488, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1489, "end_step": 1722, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 105, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 106, "end_step": 159, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 255, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 450, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 597, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 738, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1320, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1407, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1408, "end_step": 1488, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1489, "end_step": 1722, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 31}
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"subtasks", "start_step": 412, "end_step": 513, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 660, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 693, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1290, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1899, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1900, "end_step": 2016, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2017, "end_step": 2103, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2104, "end_step": 2292, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 87, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 88, "end_step": 159, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 411, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 513, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 660, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 693, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1290, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1899, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1900, "end_step": 2016, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2017, "end_step": 2103, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2104, "end_step": 2292, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
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"subtasks", "start_step": 386, "end_step": 478, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 635, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 679, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 680, "end_step": 844, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 845, "end_step": 1296, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1428, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1429, "end_step": 1491, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1512, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 98, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 99, "end_step": 158, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 271, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 272, "end_step": 385, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 386, "end_step": 478, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 635, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 679, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 680, "end_step": 844, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
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"subtasks", "start_step": 399, "end_step": 507, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 695, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 963, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 964, "end_step": 1591, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1592, "end_step": 1690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1691, "end_step": 1787, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1788, "end_step": 1923, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 107, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 108, "end_step": 167, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 268, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 269, "end_step": 398, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 507, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 695, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 963, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 964, "end_step": 1591, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1592, "end_step": 1690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1691, "end_step": 1787, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1788, "end_step": 1923, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 91, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 92, "end_step": 164, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 369, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 482, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 648, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 683, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 684, "end_step": 832, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 833, "end_step": 1249, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1250, "end_step": 1393, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1394, "end_step": 1466, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1467, "end_step": 1554, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 91, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 92, "end_step": 164, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 369, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 482, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 648, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 683, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 684, "end_step": 832, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 833, "end_step": 1249, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1250, "end_step": 1393, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1394, "end_step": 1466, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1467, "end_step": 1554, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 161, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 162, "end_step": 273, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 373, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 374, "end_step": 479, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 480, "end_step": 629, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 630, "end_step": 662, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 795, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 1318, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1319, "end_step": 1462, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1463, "end_step": 1542, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1543, "end_step": 1685, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 161, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 162, "end_step": 273, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 373, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 374, "end_step": 479, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 480, "end_step": 629, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 630, "end_step": 662, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 795, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 1318, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1319, "end_step": 1462, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1463, "end_step": 1542, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1543, "end_step": 1685, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
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"subtasks", "start_step": 364, "end_step": 461, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 462, "end_step": 613, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 633, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 884, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 885, "end_step": 1445, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1446, "end_step": 1545, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1546, "end_step": 1625, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1626, "end_step": 1795, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 109, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 110, "end_step": 169, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 170, "end_step": 260, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 363, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 364, "end_step": 461, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 462, "end_step": 613, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 633, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 884, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 885, "end_step": 1445, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1446, "end_step": 1545, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1546, "end_step": 1625, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1626, "end_step": 1795, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 167, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 377, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 378, "end_step": 490, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 646, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 691, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 692, "end_step": 805, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 806, "end_step": 1226, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1337, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1338, "end_step": 1425, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1426, "end_step": 1544, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 167, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 377, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 378, "end_step": 490, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 646, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 691, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 692, "end_step": 805, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 806, "end_step": 1226, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1337, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1338, "end_step": 1425, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1426, "end_step": 1544, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 26, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 98, "end_step": 146, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 147, "end_step": 249, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 328, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 446, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 595, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 596, "end_step": 625, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 765, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 1172, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1173, "end_step": 1235, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1236, "end_step": 1315, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1316, "end_step": 1559, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 98, "end_step": 146, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 147, "end_step": 249, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 328, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 446, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 595, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 596, "end_step": 625, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 765, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
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"subtasks", "start_step": 379, "end_step": 474, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 624, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 647, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 648, "end_step": 774, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 1290, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1341, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1342, "end_step": 1411, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1412, "end_step": 1786, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 100, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 101, "end_step": 146, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 147, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 378, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 474, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 624, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 647, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 648, "end_step": 774, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 1290, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1341, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1342, "end_step": 1411, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1412, "end_step": 1786, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
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"subtasks", "start_step": 344, "end_step": 439, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 440, "end_step": 559, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 591, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 711, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 1083, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1199, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1272, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1350, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 83, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 84, "end_step": 142, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 343, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 344, "end_step": 439, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 440, "end_step": 559, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 591, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 711, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 1083, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1199, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1272, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1350, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
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"subtasks", "start_step": 334, "end_step": 449, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 450, "end_step": 590, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 613, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 745, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 746, "end_step": 1101, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1154, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1155, "end_step": 1238, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1239, "end_step": 1721, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 88, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 89, "end_step": 154, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 333, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 334, "end_step": 449, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 450, "end_step": 590, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 613, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 745, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 30, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 93, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 94, "end_step": 159, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 254, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 605, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 633, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 866, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 867, "end_step": 1394, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1395, "end_step": 1460, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1461, "end_step": 1543, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1544, "end_step": 1624, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 93, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 94, "end_step": 159, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 254, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 605, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 633, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 866, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 867, "end_step": 1394, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1395, "end_step": 1460, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1461, "end_step": 1543, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1544, "end_step": 1624, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
+{"source_uid": "35c642155c1d3612", "num_frames": 1604, "episode_id": "POC22032_2026_05_10_11_39_39_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Place_Coffee_Filter_into_Dripper/season_POC22032_2026_05_10_10_24_27_train/POC22032_2026_05_10_11_39_39_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Place_Coffee_Filter_into_Dripper/season_POC22032_2026_05_10_10_24_27_train/POC22032_2026_05_10_11_39_39_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Place_Coffee_Filter_into_Dripper/season_POC22032_2026_05_10_10_24_27_train/POC22032_2026_05_10_11_39_39_train/train_0.3.0@2026_05_10_11_39_39.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 147, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 148, "end_step": 237, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 345, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 446, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 580, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 604, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 605, "end_step": 737, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 1117, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1118, "end_step": 1246, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1327, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1328, "end_step": 1427, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 147, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 148, "end_step": 237, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 345, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 446, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 580, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 604, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 605, "end_step": 737, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 1117, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1118, "end_step": 1246, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1327, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1328, "end_step": 1427, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
diff --git a/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v3.0/meta/annotations.jsonl b/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b9f76c8d81c7aa78c1f78c24087f823b169bc01d
--- /dev/null
+++ b/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,45 @@
+{"source_uid": "b74f4437ef7d6455", "num_frames": 2656, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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. | Right hand: idle: Right hand remains empty at the right initial position without moving."}, {"label": "goal", "start_step": 0, "end_step": 149, "id": "cbfdce42-fba8-4b4f-bb07-f9f3bde2c582"}, {"label": "valid", "start_step": 0, "end_step": 2507, "id": "eCQ6904MphMHMOPtbbiO-"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand, empty, moves forward toward the glass pitcher placed on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the handle of the glass pitcher, making small finger adjustments to form a grip on the pitcher."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand holds the clear glass pitcher and moves it downward to place it on the black table surface."}, {"label": "goal", "start_step": 150, "end_step": 214, "id": "2def008c-f692-4950-b849-3b1957c4e2ad"}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grip on the clear glass pitcher resting on the table."}, {"label": "goal", "start_step": 215, "end_step": 349, "id": "4134e0bb-8ecd-4e45-b250-ace6b12198e0"}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand moves upward and backward away from the glass pitcher with empty fingers."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves forward toward the yellow circular ring placed on the black table with open fingers. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes its fingers around the yellow circular ring to establish a stable grip. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the yellow circular ring on the black table surface without any observable movement. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand positions its fingers inside the hollow yellow ring on the black table, then adjusts its fingers to secure a stable grip on the ring while the ring remains resting on the table surface. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "goal", "start_step": 350, "end_step": 494, "id": "049f4751-4d39-4803-b3f7-e36872c7f681"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: lift: Left hand raises the gripped yellow ring vertically upward until the ring is fully lifted off the black table surface. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: transport: Left hand moves the suspended yellow ring horizontally across the table toward the clear glass pitcher at the center of the work area. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand lowers the yellow ring vertically down onto the rim of the clear glass pitcher, until the ring is fully supported by the pitcher's rim. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand makes small adjustments to its finger positions against the yellow ring to ensure the ring is stably seated on the pitcher's rim. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the yellow ring in a fixed position on the clear glass pitcher's rim, with no visible movement of the hand, fingers, or ring. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand moves toward the conical glass dripper on the left side of the black table surface, fingers extended, holding no object, until it is positioned close to the dripper. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "goal", "start_step": 495, "end_step": 619, "id": "60702a6b-8c25-4ed8-a87a-5e983c46caff"}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand makes contact with the conical glass dripper, closes fingers around the dripper, and makes small finger adjustments to form a grip on the object. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: lift: Left hand holds the transparent glass dripper and lifts it completely off the black table surface. | Right hand: reach: Right hand stays empty and moves from the upper right position toward the transparent glass dripper held by the left hand."}, {"label": "goal", "start_step": 620, "end_step": 799, "id": "601c19da-643f-4d9a-b3fc-e3c25f48c0f4"}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: transport: Left hand carries the lifted transparent glass dripper horizontally toward the waiting right hand. | Right hand: reach: Right hand stays empty and moves from the upper right position toward the transparent glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the transparent glass dripper steadily above the table without moving. | Right hand: reach: Right hand stays empty and moves from the upper right position toward the transparent glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the transparent glass dripper steadily above the table without moving. | Right hand: idle: Right hand remains empty and stationary next to the transparent glass dripper without contacting the object."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the transparent glass dripper steadily above the table without moving. | Right hand: grasp: Right hand moves forward to contact the transparent glass dripper, closes fingers around the object to form a stable grasp."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens all fingers to release the transparent glass dripper, fully separating from the object. | Right hand: grasp: Right hand moves forward to contact the transparent glass dripper, closes fingers around the object to form a stable grasp."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: transport: Right hand carries the grasped transparent glass dripper downward to the position directly above the wooden ring on the glass pot."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: mate: Right hand aligns the bottom of the transparent glass dripper with the opening of the wooden ring, inserting the dripper into the ring to form an assembled fit."}, {"label": "subtasks", "start_step": 795, "end_step": 847, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: place_release: Right hand holds the ribbed glass filter, moves it downward to seat it securely in the wooden ring on the glass pitcher, and opens fingers to release contact with the filter."}, {"label": "goal", "start_step": 800, "end_step": 839, "id": "7abb88b6-c297-4eda-ac83-0249e89c09bb"}, {"label": "goal", "start_step": 840, "end_step": 1159, "id": "e40c61bf-5849-418c-8d3b-27c2decf63e0"}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: reach: Right hand moves empty from the area above the seated glass filter toward the stack of light brown paper filters on the right side of the black table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: grasp: Right hand makes contact with the top paper filter on the stack, adjusts finger positions repeatedly, and closes fingers to pinch the filter and establish a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: lift: Right hand holds the pinched paper filter and moves upward to lift the filter completely off the underlying paper filter stack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: reach: Left hand moves horizontally rightward from its initial raised position toward the coffee filter carried by the right hand. | Right hand: lift: Right hand holds the pinched paper filter and moves upward to lift the filter completely off the underlying paper filter stack."}, {"label": "goal", "start_step": 1160, "end_step": 2004, "id": "e06b7c8c-4cce-4eba-abdd-77a9ea7969b2"}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: reach: Left hand moves horizontally rightward from its initial raised position toward the coffee filter carried by the right hand. | Right hand: transport: Right hand carries the lifted coffee filter horizontally leftward across the table toward the waiting left hand."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: grasp: Left hand closes its gripper fingers around the coffee filter presented by the right hand, adjusting finger positions to form a secure grip on the paper. | Right hand: transport: Right hand carries the lifted coffee filter horizontally leftward across the table toward the waiting left hand."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand closes its gripper fingers around the coffee filter presented by the right hand, adjusting finger positions to form a secure grip on the paper. | Right hand: release: Right hand opens its gripper fingers to release the coffee filter, allowing the left hand to take hold of it."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the filter transfer position after releasing the paper to the left hand."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: reach: Right hand moves empty leftward and downward from its retreated position toward the exposed edge of the filter held by the left hand."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: grasp: Right hand closes its gripper fingers around the edge of the coffee filter, adjusting contact points to form a stable grip on the paper."}, {"label": "subtasks", "start_step": 1388, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: unfold: Right hand pulls and adjusts the gripped edge of the folded coffee filter to separate its paper layers, rotating the filter slightly to begin opening its shape."}, {"label": "subtasks", "start_step": 1508, "end_step": 1521, "id": "reasoning-language-00038", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: release: Right hand opens its gripper fingers to release the currently gripped edge of the coffee filter."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: reach: Right hand moves empty a short distance to a different edge of the folded coffee filter, positioning its fingers to grip the new target point."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: grasp: Right hand closes its gripper fingers around the new edge of the coffee filter, adjusting its hold to establish a stable grip on the paper."}, {"label": "subtasks", "start_step": 1605, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: unfold: Right hand manipulates the gripped edge of the coffee filter, pulling layers apart and inserting fingers into the opening to shape the paper into an open conical form, with small grip adjustments as needed."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: return_home: Left hand moves empty from the area near the paper filter back to the resting position on the left side of the workspace. | Right hand: grasp: Right hand adjusts its grip on the brown paper filter, with fingers slightly shifting to secure the filter stably."}, {"label": "goal", "start_step": 2005, "end_step": 2069, "id": "99031a3e-12e7-487b-af33-ff0c566ba6ae"}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves empty from the area near the paper filter back to the resting position on the left side of the workspace. | Right hand: transport: Right hand carries the secured brown paper filter through the air, moving it to a position directly above the glass coffee dripper."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the secured brown paper filter through the air, moving it to a position directly above the glass coffee dripper."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place: Right hand lowers the brown paper filter downward, setting it into the glass coffee dripper until the filter rests stably on the dripper."}, {"label": "goal", "start_step": 2070, "end_step": 2164, "id": "d2785c49-eeaf-4d18-9cce-1864e39ef57c"}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the brown paper filter seated in the glass coffee dripper without any observable movement."}, {"label": "subtasks", "start_step": 2160, "end_step": 2294, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: other:adjust_filter_paper: Right hand moves fingers inside the paper filter placed on the glass dripper, adjusting the filter to spread and conform to the inner dripper walls with subtle finger movements."}, {"label": "goal", "start_step": 2165, "end_step": 2434, "id": "18a36b08-5b9b-480d-9e39-006748fa5395"}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: press: Right hand presses the central bottom area of the paper filter downward against the dripper to flatten and secure the filter base."}, {"label": "subtasks", "start_step": 2355, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: other:adjust_filter_paper: Right hand moves fingers along the inner walls of the paper filter to fine-tune the fit of the filter against the dripper."}, {"label": "home", "start_step": 2508, "end_step": 2655, "id": "P7egxkszgnM3GAfg_FUaV"}], "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. | Right hand: idle: Right hand remains empty at the right initial position without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand, empty, moves forward toward the glass pitcher placed on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the handle of the glass pitcher, making small finger adjustments to form a grip on the pitcher."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand holds the clear glass pitcher and moves it downward to place it on the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grip on the clear glass pitcher resting on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand moves upward and backward away from the glass pitcher with empty fingers."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves forward toward the yellow circular ring placed on the black table with open fingers. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes its fingers around the yellow circular ring to establish a stable grip. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the yellow circular ring on the black table surface without any observable movement. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand positions its fingers inside the hollow yellow ring on the black table, then adjusts its fingers to secure a stable grip on the ring while the ring remains resting on the table surface. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: lift: Left hand raises the gripped yellow ring vertically upward until the ring is fully lifted off the black table surface. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: transport: Left hand moves the suspended yellow ring horizontally across the table toward the clear glass pitcher at the center of the work area. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand lowers the yellow ring vertically down onto the rim of the clear glass pitcher, until the ring is fully supported by the pitcher's rim. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand makes small adjustments to its finger positions against the yellow ring to ensure the ring is stably seated on the pitcher's rim. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the yellow ring in a fixed position on the clear glass pitcher's rim, with no visible movement of the hand, fingers, or ring. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand moves toward the conical glass dripper on the left side of the black table surface, fingers extended, holding no object, until it is positioned close to the dripper. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand makes contact with the conical glass dripper, closes fingers around the dripper, and makes small finger adjustments to form a grip on the object. | Right hand: idle: Right hand remains empty and stationary at the upper right position above the table."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: lift: Left hand holds the transparent glass dripper and lifts it completely off the black table surface. | Right hand: reach: Right hand stays empty and moves from the upper right position toward the transparent glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: transport: Left hand carries the lifted transparent glass dripper horizontally toward the waiting right hand. | Right hand: reach: Right hand stays empty and moves from the upper right position toward the transparent glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the transparent glass dripper steadily above the table without moving. | Right hand: reach: Right hand stays empty and moves from the upper right position toward the transparent glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the transparent glass dripper steadily above the table without moving. | Right hand: idle: Right hand remains empty and stationary next to the transparent glass dripper without contacting the object."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the transparent glass dripper steadily above the table without moving. | Right hand: grasp: Right hand moves forward to contact the transparent glass dripper, closes fingers around the object to form a stable grasp."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens all fingers to release the transparent glass dripper, fully separating from the object. | Right hand: grasp: Right hand moves forward to contact the transparent glass dripper, closes fingers around the object to form a stable grasp."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: transport: Right hand carries the grasped transparent glass dripper downward to the position directly above the wooden ring on the glass pot."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: mate: Right hand aligns the bottom of the transparent glass dripper with the opening of the wooden ring, inserting the dripper into the ring to form an assembled fit."}, {"label": "subtasks", "start_step": 795, "end_step": 847, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: place_release: Right hand holds the ribbed glass filter, moves it downward to seat it securely in the wooden ring on the glass pitcher, and opens fingers to release contact with the filter."}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: reach: Right hand moves empty from the area above the seated glass filter toward the stack of light brown paper filters on the right side of the black table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: grasp: Right hand makes contact with the top paper filter on the stack, adjusts finger positions repeatedly, and closes fingers to pinch the filter and establish a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary above the left area of the black table. | Right hand: lift: Right hand holds the pinched paper filter and moves upward to lift the filter completely off the underlying paper filter stack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: reach: Left hand moves horizontally rightward from its initial raised position toward the coffee filter carried by the right hand. | Right hand: lift: Right hand holds the pinched paper filter and moves upward to lift the filter completely off the underlying paper filter stack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: reach: Left hand moves horizontally rightward from its initial raised position toward the coffee filter carried by the right hand. | Right hand: transport: Right hand carries the lifted coffee filter horizontally leftward across the table toward the waiting left hand."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: grasp: Left hand closes its gripper fingers around the coffee filter presented by the right hand, adjusting finger positions to form a secure grip on the paper. | Right hand: transport: Right hand carries the lifted coffee filter horizontally leftward across the table toward the waiting left hand."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand closes its gripper fingers around the coffee filter presented by the right hand, adjusting finger positions to form a secure grip on the paper. | Right hand: release: Right hand opens its gripper fingers to release the coffee filter, allowing the left hand to take hold of it."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the filter transfer position after releasing the paper to the left hand."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: reach: Right hand moves empty leftward and downward from its retreated position toward the exposed edge of the filter held by the left hand."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: grasp: Right hand closes its gripper fingers around the edge of the coffee filter, adjusting contact points to form a stable grip on the paper."}, {"label": "subtasks", "start_step": 1388, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: unfold: Right hand pulls and adjusts the gripped edge of the folded coffee filter to separate its paper layers, rotating the filter slightly to begin opening its shape."}, {"label": "subtasks", "start_step": 1508, "end_step": 1521, "id": "reasoning-language-00038", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: release: Right hand opens its gripper fingers to release the currently gripped edge of the coffee filter."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: reach: Right hand moves empty a short distance to a different edge of the folded coffee filter, positioning its fingers to grip the new target point."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: grasp: Right hand closes its gripper fingers around the new edge of the coffee filter, adjusting its hold to establish a stable grip on the paper."}, {"label": "subtasks", "start_step": 1605, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: unfold: Left hand maintains its grip on one section of the coffee filter, making small rotational and positional adjustments to stabilize the paper as the right hand manipulates other edges to unfold the filter into a conical shape. | Right hand: unfold: Right hand manipulates the gripped edge of the coffee filter, pulling layers apart and inserting fingers into the opening to shape the paper into an open conical form, with small grip adjustments as needed."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: return_home: Left hand moves empty from the area near the paper filter back to the resting position on the left side of the workspace. | Right hand: grasp: Right hand adjusts its grip on the brown paper filter, with fingers slightly shifting to secure the filter stably."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves empty from the area near the paper filter back to the resting position on the left side of the workspace. | Right hand: transport: Right hand carries the secured brown paper filter through the air, moving it to a position directly above the glass coffee dripper."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the secured brown paper filter through the air, moving it to a position directly above the glass coffee dripper."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place: Right hand lowers the brown paper filter downward, setting it into the glass coffee dripper until the filter rests stably on the dripper."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the brown paper filter seated in the glass coffee dripper without any observable movement."}, {"label": "subtasks", "start_step": 2160, "end_step": 2294, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: other:adjust_filter_paper: Right hand moves fingers inside the paper filter placed on the glass dripper, adjusting the filter to spread and conform to the inner dripper walls with subtle finger movements."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: press: Right hand presses the central bottom area of the paper filter downward against the dripper to flatten and secure the filter base."}, {"label": "subtasks", "start_step": 2355, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: other:adjust_filter_paper: Right hand moves fingers along the inner walls of the paper filter to fine-tune the fit of the filter against the dripper."}], "episode_index": 0}
+{"source_uid": "dd39a20b23d2cfff", "num_frames": 2594, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 on the left side of the workspace without any observable movement throughout the segment. | Right hand: reach: Right hand moves from its initial right-side resting position downward toward the clear glass pitcher placed on the black table surface, staying empty as it approaches the target object."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "abaf35c9-6605-4535-b683-0579b7e89f29"}, {"label": "valid", "start_step": 0, "end_step": 2444, "id": "A6gAkC-QWESsM3cDi1xks"}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: grasp: Right hand positions its fingers around the handle of the clear glass pitcher, closing fingers and making small adjustments to establish a firm grip on the pitcher."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: hold: Right hand holds the clear glass pitcher steadily on the black table surface without observable movement of the hand, fingers or the pitcher."}, {"label": "subtasks", "start_step": 135, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: place: Right hand holds the clear glass container, moves it diagonally leftward and downward while rotating it slightly to an upright orientation, and sets it stably on the black table surface."}, {"label": "goal", "start_step": 147, "end_step": 217, "id": "40884c0d-55ff-4a42-a780-21133fe6801b"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: hold: Right hand holds the clear glass container resting stably on the black table surface, with no observable movement of the hand, fingers or container."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves downward and rightward from its initial upper left position toward the yellow ring-shaped tape on the black table surface, with an empty hand. | Right hand: release: Right hand releases the handle of the clear glass pitcher on the black table, with fingers opening to separate from the pitcher."}, {"label": "goal", "start_step": 218, "end_step": 362, "id": "b59b92ab-de1c-49c4-88bb-a9b6041e481b"}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves downward and rightward from its initial upper left position toward the yellow ring-shaped tape on the black table surface, with an empty hand. | Right hand: retreat: Right hand moves upward and rightward through midair, retreating from the glass pitcher position with an empty hand."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes its fingers around the yellow ring-shaped tape, making slight finger position adjustments to establish a stable grip on the tape. | Right hand: retreat: Right hand moves upward and rightward through midair, retreating from the glass pitcher position with an empty hand."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes its fingers around the yellow ring-shaped tape, making slight finger position adjustments to establish a stable grip on the tape. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow ring-shaped tape on the black table surface without moving, maintaining a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: transport_place: Left hand holds the yellow ring-shaped object, moves it down and to the right toward the glass pitcher, and lowers it to rest stably on the pitcher's rim. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "goal", "start_step": 363, "end_step": 467, "id": "7404a5fc-518b-49d7-a597-4f9e785f4b9f"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object resting on the glass pitcher rim without observable movement. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: place_release: Left hand positions the light brown wooden ring onto the opening of the clear glass pitcher and breaks contact with the ring. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "goal", "start_step": 468, "end_step": 607, "id": "674fca4d-b4bb-4384-852c-0ed365993f16"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: retreat: Left hand moves empty upward and backward away from the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: reach: Left hand moves empty downward toward the conical ribbed glass filter on the black table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: grasp: Left hand closes fingers around the conical ribbed glass filter, making small finger adjustments to establish a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: lift: Left hand grips the clear fluted glass dripper and lifts it upward, raising it completely off the black table surface. | Right hand: reach: Right hand moves left through the air toward the clear fluted glass dripper held by the left hand, remaining empty as it approaches the target."}, {"label": "goal", "start_step": 608, "end_step": 782, "id": "5cb2c9fe-6757-4d88-b8c4-1f767003fc84"}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: transport: Left hand carries the clear fluted glass dripper upward and slightly toward the right hand to the mid-air handoff position. | Right hand: reach: Right hand moves left through the air toward the clear fluted glass dripper held by the left hand, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 675, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper stationary in mid-air, maintaining a stable grip as the right hand approaches to take the dripper. | Right hand: reach: Right hand moves left through the air toward the clear fluted glass dripper held by the left hand, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper stationary in mid-air, maintaining a stable grip as the right hand approaches to take the dripper. | Right hand: grasp: Right hand closes its fingers around the clear fluted glass dripper, adjusting finger positions to form a stable grip on the dripper."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand opens its fingers to release the clear fluted glass dripper, breaking contact with the dripper. | Right hand: transport: Right hand carries the clear fluted glass dripper downward and slightly right, moving it directly over the opening of the glass carafe topped with a light wooden ring."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: transport: Right hand carries the clear fluted glass dripper downward and slightly right, moving it directly over the opening of the glass carafe topped with a light wooden ring."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: place: Right hand lowers the clear fluted glass dripper into the opening of the glass carafe, seating the dripper on the wooden ring so it is supported by the carafe."}, {"label": "goal", "start_step": 783, "end_step": 832, "id": "cba9cbae-29f3-4137-aab1-c6b5e79b7e5e"}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: place_release: Right hand holds the glass dripper, moves it downward to place it onto the wooden ring atop the glass carafe until the dripper is stably supported, opens the gripper to release contact with the dripper."}, {"label": "goal", "start_step": 833, "end_step": 1182, "id": "f37d83c3-ef0b-4fff-8a31-bfd8204de343"}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: reach: Right hand moves empty horizontally to the right across the table, approaching the stack of light brown paper filters."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: grasp_release: Right hand adjusts finger positions on the top paper filter with slight opening and closing movements to attempt a grasp, releases contact with the filter without lifting it."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: reach: Right hand moves empty slightly downward and adjusts position, re-approaching the top paper filter on the stack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: grasp: Right hand makes slight finger adjustments and closes the gripper to form a stable grasp on the top paper filter, while the filter remains resting on the stack below."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: lift: Right hand holds the grasped paper filter and moves it upward, lifting the filter completely off the underlying stack of filters."}, {"label": "goal", "start_step": 1183, "end_step": 1857, "id": "6548f293-6d51-43fe-adaf-f5d428d62add"}, {"label": "subtasks", "start_step": 1200, "end_step": 1371, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: transport: Right hand carries the lifted paper filter and moves it horizontally leftward to the position directly in front of the left hand."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: reach: Left hand moves slightly toward the incoming paper filter, approaching the filter surface with an open hand. | Right hand: transport: Right hand carries the lifted paper filter and moves it horizontally leftward to the position directly in front of the left hand."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: reach: Left hand moves slightly toward the incoming paper filter, approaching the filter surface with an open hand. | Right hand: release: Right hand opens its fingers to release the paper filter, fully separating from the filter surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand makes contact with the paper filter, closes fingers and adjusts finger positions repeatedly to secure a stable hold on the filter edge. | Right hand: reach: Right hand moves empty downward and leftward toward the paper filter now held by the left hand, approaching the filter's edge."}, {"label": "subtasks", "start_step": 1455, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: grasp: Left hand makes contact with the paper filter, closes fingers and adjusts finger positions repeatedly to secure a stable hold on the filter edge. | Right hand: grasp: Right hand makes contact with the free edge of the paper filter, closes fingers and adjusts contact positions repeatedly to establish a stable hold."}, {"label": "subtasks", "start_step": 1620, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand holds one edge of the paper filter and adjusts its position slightly to fold the flexible filter into a conical shape in coordination with the right hand. | Right hand: fold: Right hand holds one edge of the paper filter and adjusts its position slightly to fold the flexible filter into a conical shape in coordination with the left hand."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: reorient: Left hand holds the yellow conical paper filter, squeezes the filter to change its shape from an open cone to a flat shape with minor finger adjustments. | Right hand: reorient: Right hand holds the yellow conical paper filter, squeezes the filter to change its shape from an open cone to a flat shape with minor finger adjustments."}, {"label": "goal", "start_step": 1858, "end_step": 2032, "id": "30dba552-cddb-4df6-8369-7d2d89c3e0ec"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00037", "text": "Left hand: hold_release: Left hand holds the flattened yellow paper filter without moving, opens its fingers to release the filter and separate from the filter. | Right hand: hold: Right hand holds the flattened yellow paper filter without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1971, "id": "reasoning-language-00038", "text": "Left hand: hold_release: Left hand holds the flattened yellow paper filter without moving, opens its fingers to release the filter and separate from the filter. | Right hand: grasp: Right hand adjusts its finger positions to stabilize its grip on the yellow paper filter, with slight upward movement of the filter."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions to stabilize its grip on the yellow paper filter, with slight upward movement of the filter."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the gripped yellow paper filter, moving it upward and toward the glass dripper below."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the yellow paper filter toward the glass dripper, placing the filter onto the dripper opening until it is supported by the dripper rim."}, {"label": "subtasks", "start_step": 2025, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand holds the cone-shaped paper filter, slightly rotates the wrist to adjust the filter's orientation, moves downward to nest the filter into the glass dripper positioned above the clear glass container."}, {"label": "goal", "start_step": 2033, "end_step": 2192, "id": "a36d10e6-fa47-4153-ab3a-9cb557807a7d"}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the paper filter nested inside the glass dripper without observable movement or hand shape adjustment."}, {"label": "goal", "start_step": 2193, "end_step": 2232, "id": "feafae35-a358-4b1f-9ac2-f3e26d52bd37"}, {"label": "home", "start_step": 2445, "end_step": 2593, "id": "pUWOdhDZDmMol1cn3LzNv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: reach: Right hand moves from its initial right-side resting position downward toward the clear glass pitcher placed on the black table surface, staying empty as it approaches the target object."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: grasp: Right hand positions its fingers around the handle of the clear glass pitcher, closing fingers and making small adjustments to establish a firm grip on the pitcher."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: hold: Right hand holds the clear glass pitcher steadily on the black table surface without observable movement of the hand, fingers or the pitcher."}, {"label": "subtasks", "start_step": 135, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: place: Right hand holds the clear glass container, moves it diagonally leftward and downward while rotating it slightly to an upright orientation, and sets it stably on the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any observable movement throughout the segment. | Right hand: hold: Right hand holds the clear glass container resting stably on the black table surface, with no observable movement of the hand, fingers or container."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves downward and rightward from its initial upper left position toward the yellow ring-shaped tape on the black table surface, with an empty hand. | Right hand: release: Right hand releases the handle of the clear glass pitcher on the black table, with fingers opening to separate from the pitcher."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves downward and rightward from its initial upper left position toward the yellow ring-shaped tape on the black table surface, with an empty hand. | Right hand: retreat: Right hand moves upward and rightward through midair, retreating from the glass pitcher position with an empty hand."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes its fingers around the yellow ring-shaped tape, making slight finger position adjustments to establish a stable grip on the tape. | Right hand: retreat: Right hand moves upward and rightward through midair, retreating from the glass pitcher position with an empty hand."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes its fingers around the yellow ring-shaped tape, making slight finger position adjustments to establish a stable grip on the tape. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow ring-shaped tape on the black table surface without moving, maintaining a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: transport_place: Left hand holds the yellow ring-shaped object, moves it down and to the right toward the glass pitcher, and lowers it to rest stably on the pitcher's rim. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object resting on the glass pitcher rim without observable movement. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: place_release: Left hand positions the light brown wooden ring onto the opening of the clear glass pitcher and breaks contact with the ring. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: retreat: Left hand moves empty upward and backward away from the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: reach: Left hand moves empty downward toward the conical ribbed glass filter on the black table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: grasp: Left hand closes fingers around the conical ribbed glass filter, making small finger adjustments to establish a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without any observable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: lift: Left hand grips the clear fluted glass dripper and lifts it upward, raising it completely off the black table surface. | Right hand: reach: Right hand moves left through the air toward the clear fluted glass dripper held by the left hand, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: transport: Left hand carries the clear fluted glass dripper upward and slightly toward the right hand to the mid-air handoff position. | Right hand: reach: Right hand moves left through the air toward the clear fluted glass dripper held by the left hand, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 675, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper stationary in mid-air, maintaining a stable grip as the right hand approaches to take the dripper. | Right hand: reach: Right hand moves left through the air toward the clear fluted glass dripper held by the left hand, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper stationary in mid-air, maintaining a stable grip as the right hand approaches to take the dripper. | Right hand: grasp: Right hand closes its fingers around the clear fluted glass dripper, adjusting finger positions to form a stable grip on the dripper."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand opens its fingers to release the clear fluted glass dripper, breaking contact with the dripper. | Right hand: transport: Right hand carries the clear fluted glass dripper downward and slightly right, moving it directly over the opening of the glass carafe topped with a light wooden ring."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: transport: Right hand carries the clear fluted glass dripper downward and slightly right, moving it directly over the opening of the glass carafe topped with a light wooden ring."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: place: Right hand lowers the clear fluted glass dripper into the opening of the glass carafe, seating the dripper on the wooden ring so it is supported by the carafe."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: place_release: Right hand holds the glass dripper, moves it downward to place it onto the wooden ring atop the glass carafe until the dripper is stably supported, opens the gripper to release contact with the dripper."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: reach: Right hand moves empty horizontally to the right across the table, approaching the stack of light brown paper filters."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: grasp_release: Right hand adjusts finger positions on the top paper filter with slight opening and closing movements to attempt a grasp, releases contact with the filter without lifting it."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: reach: Right hand moves empty slightly downward and adjusts position, re-approaching the top paper filter on the stack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: grasp: Right hand makes slight finger adjustments and closes the gripper to form a stable grasp on the top paper filter, while the filter remains resting on the stack below."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: lift: Right hand holds the grasped paper filter and moves it upward, lifting the filter completely off the underlying stack of filters."}, {"label": "subtasks", "start_step": 1200, "end_step": 1371, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary in the position near the left side of the work surface, with no further movement. | Right hand: transport: Right hand carries the lifted paper filter and moves it horizontally leftward to the position directly in front of the left hand."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: reach: Left hand moves slightly toward the incoming paper filter, approaching the filter surface with an open hand. | Right hand: transport: Right hand carries the lifted paper filter and moves it horizontally leftward to the position directly in front of the left hand."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: reach: Left hand moves slightly toward the incoming paper filter, approaching the filter surface with an open hand. | Right hand: release: Right hand opens its fingers to release the paper filter, fully separating from the filter surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand makes contact with the paper filter, closes fingers and adjusts finger positions repeatedly to secure a stable hold on the filter edge. | Right hand: reach: Right hand moves empty downward and leftward toward the paper filter now held by the left hand, approaching the filter's edge."}, {"label": "subtasks", "start_step": 1455, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: grasp: Left hand makes contact with the paper filter, closes fingers and adjusts finger positions repeatedly to secure a stable hold on the filter edge. | Right hand: grasp: Right hand makes contact with the free edge of the paper filter, closes fingers and adjusts contact positions repeatedly to establish a stable hold."}, {"label": "subtasks", "start_step": 1620, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand holds one edge of the paper filter and adjusts its position slightly to fold the flexible filter into a conical shape in coordination with the right hand. | Right hand: fold: Right hand holds one edge of the paper filter and adjusts its position slightly to fold the flexible filter into a conical shape in coordination with the left hand."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: reorient: Left hand holds the yellow conical paper filter, squeezes the filter to change its shape from an open cone to a flat shape with minor finger adjustments. | Right hand: reorient: Right hand holds the yellow conical paper filter, squeezes the filter to change its shape from an open cone to a flat shape with minor finger adjustments."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00037", "text": "Left hand: hold_release: Left hand holds the flattened yellow paper filter without moving, opens its fingers to release the filter and separate from the filter. | Right hand: hold: Right hand holds the flattened yellow paper filter without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1971, "id": "reasoning-language-00038", "text": "Left hand: hold_release: Left hand holds the flattened yellow paper filter without moving, opens its fingers to release the filter and separate from the filter. | Right hand: grasp: Right hand adjusts its finger positions to stabilize its grip on the yellow paper filter, with slight upward movement of the filter."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions to stabilize its grip on the yellow paper filter, with slight upward movement of the filter."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the gripped yellow paper filter, moving it upward and toward the glass dripper below."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the yellow paper filter toward the glass dripper, placing the filter onto the dripper opening until it is supported by the dripper rim."}, {"label": "subtasks", "start_step": 2025, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand holds the cone-shaped paper filter, slightly rotates the wrist to adjust the filter's orientation, moves downward to nest the filter into the glass dripper positioned above the clear glass container."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the paper filter nested inside the glass dripper without observable movement or hand shape adjustment."}], "episode_index": 1}
+{"source_uid": "17168689d3f8feb9", "num_frames": 2455, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 black table without obvious movement. | Right hand: reach: Right hand moves toward the transparent glass pitcher placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "8600d3df-9bab-4e4d-af60-e1b2500dc85a"}, {"label": "valid", "start_step": 0, "end_step": 2305, "id": "6iv5FvtidBLhX97O-K0kH"}, {"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 black table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the transparent glass pitcher, adjusting the grip to form a stable hold."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: lift: Right hand lifts the transparent glass pitcher upward, making it completely leave the black table surface."}, {"label": "goal", "start_step": 141, "end_step": 215, "id": "52db376a-4a6b-48ce-ae76-976e03537262"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: transport: Right hand transports the transparent glass jar forward above the black table."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: place: Right hand places the transparent glass jar onto the black table surface until it is stably supported."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: release: Right hand releases the transparent glass jar, with fingers opening to separate from the jar."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves toward the yellow circular ring placed on the black table. | Right hand: retreat: Right hand retreats upward and away from the glass pitcher on the black table."}, {"label": "goal", "start_step": 216, "end_step": 355, "id": "06d2a733-4643-4e8c-889e-bc55579b48c6"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves toward the yellow circular ring placed on the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand adjusts its fingers to form a stable grasp on the yellow circular ring. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow circular ring on the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand adjusts the grip on the yellow ring-shaped object on the black tabletop. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "goal", "start_step": 356, "end_step": 475, "id": "c73b58fc-4251-4ba2-8a8f-1dd6f5772afd"}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: lift_transport: Left hand lifts the yellow ring-shaped object from the tabletop and transports it towards the glass pitcher on the right side of the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand places the yellow ring-shaped object onto the opening of the glass pitcher and adjusts it to stay stable. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "goal", "start_step": 476, "end_step": 615, "id": "1dd33bb4-74c4-42ad-8f7f-205cbe7f674a"}, {"label": "subtasks", "start_step": 502, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves towards the glass funnel placed on the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand closes its fingers to grasp the glass funnel on the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand lifts the glass funnel up from the table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: transport: Left hand transports the transparent glass funnel to the middle area of the black table, rotating the funnel slightly. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "goal", "start_step": 616, "end_step": 785, "id": "f5bcb6f8-e44a-4390-a105-a9d3541325a7"}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving. | Right hand: grasp: Right hand closes its fingers to grasp the transparent glass funnel, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: release: Left hand opens its fingers to release the transparent glass funnel. | Right hand: grasp: Right hand closes its fingers to grasp the transparent glass funnel, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the transparent glass funnel above the glass jar with the wooden ring on the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "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 glass funnel onto the wooden ring on top of the glass jar."}, {"label": "goal", "start_step": 786, "end_step": 835, "id": "67dd569f-9f5c-4fdd-ab22-2e68f1da4863"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the stack of fan-shaped wooden covers on the table."}, {"label": "goal", "start_step": 836, "end_step": 1095, "id": "9228784a-1ea6-4301-8686-946e87625b54"}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the top wooden cover, flips it over the stack, then releases the cover."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "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 toward the top fan-shaped wooden cover on the stack."}, {"label": "subtasks", "start_step": 1020, "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: grasp: Right hand grasps the top wooden cover and adjusts the grip to stabilize the cover."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top wooden cover away from the stack on the table."}, {"label": "goal", "start_step": 1096, "end_step": 1805, "id": "3e208020-97dd-4caf-86d9-f394f151c539"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the filter paper from the black table and transports it to the position above the glass cup."}, {"label": "subtasks", "start_step": 1125, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: hold: Right hand holds the filter paper above the glass cup without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00030", "text": "Left hand: grasp: Left hand grasps the filter paper transferred from the right hand. | Right hand: release: Right hand releases the filter paper, transferring it to the left hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the filter paper without moving while the right hand approaches. | Right hand: reach_grasp: Right hand reaches towards the filter paper held by the left hand and grasps the edge of the filter paper."}, {"label": "subtasks", "start_step": 1470, "end_step": 1799, "id": "reasoning-language-00032", "text": "Left hand: fold: Left hand cooperates with right hand to fold the filter paper. | Right hand: fold: Right hand cooperates with left hand to fold the filter paper."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand holds the brown filter paper and moves it to the position above the glass container."}, {"label": "goal", "start_step": 1806, "end_step": 1870, "id": "242aeb38-33af-4f01-84f4-0c99621aae6a"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the brown filter paper slightly to adjust its orientation to fit the glass container opening."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the brown filter paper and places it onto the wooden ring on the top of the glass container."}, {"label": "goal", "start_step": 1871, "end_step": 1955, "id": "270b7584-a4db-4309-9337-92c24b31745d"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the brown filter paper, separating from the paper."}, {"label": "subtasks", "start_step": 1950, "end_step": 2249, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the brown filter paper on the top of the glass filter cup to adjust its shape and fit the inner wall of the cup."}, {"label": "goal", "start_step": 1956, "end_step": 2255, "id": "e66e90b9-5195-4de6-ad43-44dca5246ff4"}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the filter paper after finishing pressing adjustment."}, {"label": "home", "start_step": 2306, "end_step": 2454, "id": "rwPwPh7kKRJfrWcYxiCvc"}], "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 black table without obvious movement. | Right hand: reach: Right hand moves toward the transparent glass pitcher placed on the black table."}, {"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 black table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the transparent glass pitcher, adjusting the grip to form a stable hold."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: lift: Right hand lifts the transparent glass pitcher upward, making it completely leave the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: transport: Right hand transports the transparent glass jar forward above the black table."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: place: Right hand places the transparent glass jar onto the black table surface until it is stably supported."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: release: Right hand releases the transparent glass jar, with fingers opening to separate from the jar."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves toward the yellow circular ring placed on the black table. | Right hand: retreat: Right hand retreats upward and away from the glass pitcher on the black table."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves toward the yellow circular ring placed on the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand adjusts its fingers to form a stable grasp on the yellow circular ring. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow circular ring on the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand adjusts the grip on the yellow ring-shaped object on the black tabletop. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: lift_transport: Left hand lifts the yellow ring-shaped object from the tabletop and transports it towards the glass pitcher on the right side of the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand places the yellow ring-shaped object onto the opening of the glass pitcher and adjusts it to stay stable. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves towards the glass funnel placed on the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand closes its fingers to grasp the glass funnel on the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand lifts the glass funnel up from the table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: transport: Left hand transports the transparent glass funnel to the middle area of the black table, rotating the funnel slightly. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving. | Right hand: grasp: Right hand closes its fingers to grasp the transparent glass funnel, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: release: Left hand opens its fingers to release the transparent glass funnel. | Right hand: grasp: Right hand closes its fingers to grasp the transparent glass funnel, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the transparent glass funnel above the glass jar with the wooden ring on the black table."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "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 glass funnel onto the wooden ring on top of the glass jar."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the stack of fan-shaped wooden covers on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the top wooden cover, flips it over the stack, then releases the cover."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "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 toward the top fan-shaped wooden cover on the stack."}, {"label": "subtasks", "start_step": 1020, "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: grasp: Right hand grasps the top wooden cover and adjusts the grip to stabilize the cover."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top wooden cover away from the stack on the table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the filter paper from the black table and transports it to the position above the glass cup."}, {"label": "subtasks", "start_step": 1125, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: hold: Right hand holds the filter paper above the glass cup without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00030", "text": "Left hand: grasp: Left hand grasps the filter paper transferred from the right hand. | Right hand: release: Right hand releases the filter paper, transferring it to the left hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the filter paper without moving while the right hand approaches. | Right hand: reach_grasp: Right hand reaches towards the filter paper held by the left hand and grasps the edge of the filter paper."}, {"label": "subtasks", "start_step": 1470, "end_step": 1799, "id": "reasoning-language-00032", "text": "Left hand: fold: Left hand cooperates with right hand to fold the filter paper. | Right hand: fold: Right hand cooperates with left hand to fold the filter paper."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand holds the brown filter paper and moves it to the position above the glass container."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the brown filter paper slightly to adjust its orientation to fit the glass container opening."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand lowers the brown filter paper and places it onto the wooden ring on the top of the glass container."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand opens its fingers to release the brown filter paper, separating from the paper."}, {"label": "subtasks", "start_step": 1950, "end_step": 2249, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the brown filter paper on the top of the glass filter cup to adjust its shape and fit the inner wall of the cup."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the filter paper after finishing pressing adjustment."}], "episode_index": 2}
+{"source_uid": "12d780c6d2a04b10", "num_frames": 2792, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 slightly to the left home position while remaining empty. | Right hand: idle: Right hand remains empty at the right initial position above the table without any observable movement."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "8608abad-cfa9-4bf9-ae8d-061b6790e826"}, {"label": "valid", "start_step": 0, "end_step": 2643, "id": "FFZ0NeuK70LP_xXZ14LrR"}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: idle: Right hand remains empty at the right initial position above the table without any observable movement."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward and toward the transparent glass pitcher on the table with open fingers, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: grasp: Right hand contacts the transparent glass pitcher on the table, fingers close and make slight adjustments to form a stable grip on the pitcher."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the transparent glass pitcher off the right section of the black table surface."}, {"label": "goal", "start_step": 146, "end_step": 215, "id": "8bd4d938-5de4-461f-947c-f613bdd8ea6c"}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped transparent glass pitcher and moves it to the lower left area above the table."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: place: Right hand lowers the transparent glass pitcher onto the black table surface until the pitcher is stably supported by the table."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: release: Right hand releases the clear glass pitcher on the black table, fingers opening to disengage from the pitcher."}, {"label": "goal", "start_step": 216, "end_step": 390, "id": "3e43fd0d-0123-4035-b5f7-f8fb35c207b3"}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: retreat: Right hand moves upward and rightward away from the glass pitcher, retreating to the upper right area of the table."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00011", "text": "Left hand: reach: Left hand moves downward toward the yellow ring-shaped object placed left of the glass funnel on the table, approaching the target. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand makes contact with the yellow ring-shaped object, fingers closing and making small adjustments to establish a stable grip on the object. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object steadily on the table with no observable movement or grip adjustment. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: lift: Left hand holds the yellow ring-shaped object and lifts it upward until the object is fully separated from the black table surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "goal", "start_step": 391, "end_step": 555, "id": "8e645b74-3d09-4ca3-acb7-f421615d909f"}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: transport_place: Left hand carries the yellow ring-shaped object to the position directly above the transparent handled glass container, lowers the object to rest on the container's opening with support from the container. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 442, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object steadily on the opening of the transparent handled glass container without observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: release: Left hand releases the wooden ring on the glass pitcher opening, with fingers separating from the ring surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "goal", "start_step": 556, "end_step": 707, "id": "a6d636f2-7871-4881-885b-9cc6bba47552"}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: reach: Left hand moves empty from above the glass pitcher toward the fluted glass filter placed on the black table, approaching until fingertips touch the filter's top edge. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: grasp: Left hand adjusts finger positions on the top edge of the fluted glass filter, closing fingers to form a stable grasp while the filter remains on the table surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: lift: Left hand holds the fluted glass filter steadily and moves upward, starting to lift the filter from the table surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "goal", "start_step": 708, "end_step": 872, "id": "a226bc48-124a-4491-b4c8-bd3f281a1906"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand holds the lifted glass filter and moves it rightward toward the center of the table to meet the approaching right hand. | Right hand: reach: Right hand moves leftward and downward, approaching the glass filter held by the left hand without making contact at the end of the segment."}, {"label": "subtasks", "start_step": 780, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: transport: Left hand holds the lifted glass filter and moves it rightward toward the center of the table to meet the approaching right hand. | Right hand: grasp: Right hand closes its fingers around the glass filter, making small adjustments to form a stable grip on the object."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the glass filter steady in midair without moving while the right hand grips the object. | Right hand: grasp: Right hand closes its fingers around the glass filter, making small adjustments to form a stable grip on the object."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand opens its fingers to release the glass filter, fully separating from the object. | Right hand: transport: Right hand holds the glass filter and moves it downward toward the glass pitcher with a wooden ring on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: transport: Right hand holds the glass filter and moves it downward toward the glass pitcher with a wooden ring on the table."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the bottom of the glass filter and inserts it into the central hole of the wooden ring on the glass pitcher."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the ribbed glass filter, moves it downward to seat it securely on the wooden collar atop the glass carafe, and releases its grip on the filter."}, {"label": "goal", "start_step": 873, "end_step": 916, "id": "e3332188-da5d-44fa-b393-3b890f7535c0"}, {"label": "goal", "start_step": 917, "end_step": 1222, "id": "44f0048f-3b95-4833-937e-02b4682e833d"}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty toward the stack of light-colored filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the top sheet of the filter paper stack, pinching the sheet to lift it slightly from the stack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers to release the pinched filter paper sheet, allowing the sheet to fall back onto the paper stack."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward to reposition above the filter paper stack for another grasp attempt."}, {"label": "subtasks", "start_step": 1080, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions on the filter paper, closing fingers to form a stable grasp on one sheet of filter paper."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: lift: Right hand holds the grasped filter paper sheet, moves upward to lift the sheet away from the underlying stack of papers."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: reach: Left hand moves rightward with empty fingers toward the brown coffee filter held by the right hand. | Right hand: lift_transport: Right hand grips a single brown coffee filter from the stacked pile, lifts it completely off the supporting stack, then moves it horizontally leftward toward the approaching left hand."}, {"label": "goal", "start_step": 1223, "end_step": 1814, "id": "306dacf5-4345-42ea-8a8a-be3ce3443120"}, {"label": "subtasks", "start_step": 1268, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: grasp: Left hand closes fingers around the edge of the brown coffee filter, adjusting finger positions to form a secure grip on the filter as the right hand holds the opposite side. | Right hand: hold_release: Right hand holds the brown coffee filter steady in midair to allow the left hand to establish a grip, then opens its fingers to release the filter fully into the left hand's hold."}, {"label": "subtasks", "start_step": 1402, "end_step": 1439, "id": "reasoning-language-00036", "text": "Left hand: unfold: Left hand holds the edge of the brown coffee filter, making small position and orientation adjustments to cooperate with the right hand to separate the folded filter layers and open the filter into a conical shape. | Right hand: reach: Right hand moves leftward with empty fingers toward the brown coffee filter now held by the left hand."}, {"label": "subtasks", "start_step": 1440, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: unfold: Left hand holds the edge of the brown coffee filter, making small position and orientation adjustments to cooperate with the right hand to separate the folded filter layers and open the filter into a conical shape. | Right hand: unfold: Right hand makes contact with the surface of the brown coffee filter, inserts fingers between the folded filter layers, and adjusts wrist and finger positions with small rotations to separate layers and widen the filter opening."}, {"label": "subtasks", "start_step": 1815, "end_step": 1941, "id": "reasoning-language-00038", "text": "Left hand: grasp: Left hand makes continuous slight finger adjustments to secure its grasp on the yellow paper filter, maintaining contact with the filter alongside the right hand. | Right hand: reorient: Right hand grips the yellow paper filter, rotating the wrist slightly to form the filter into a conical shape with minimal overall position change."}, {"label": "goal", "start_step": 1815, "end_step": 2024, "id": "9d1d5ca3-4a23-4a09-a3ad-b5ac8bc7bc3c"}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00039", "text": "Left hand: release_retreat: Left hand opens fingers to release the yellow paper filter, retreating empty away from the operating area toward the left side of the workspace. | Right hand: reorient: Right hand grips the yellow paper filter, rotating the wrist slightly to form the filter into a conical shape with minimal overall position change."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00040", "text": "Left hand: release_retreat: Left hand opens fingers to release the yellow paper filter, retreating empty away from the operating area toward the left side of the workspace. | Right hand: transport: Right hand grips the conical yellow paper filter, moving it downward toward the glass coffee dripper placed on the table below."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: place: Right hand holds the brown paper filter, moves downward to place the filter onto the glass dripper positioned over the glass carafe, until the filter rests on the dripper rim."}, {"label": "goal", "start_step": 2025, "end_step": 2096, "id": "62fd4ee7-fab8-491b-ba0c-e7a4f7438d15"}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: hold: Right hand holds the top surface of the placed paper filter against the glass dripper without any movement or hand shape change."}, {"label": "goal", "start_step": 2097, "end_step": 2595, "id": "12bb5de5-c58a-40f4-bbfe-12d575516fcb"}, {"label": "subtasks", "start_step": 2108, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: press: Right hand rotates its wrist slightly downward and presses the center of the paper filter with its fingertip, pushing the filter down into the interior of the glass dripper."}, {"label": "subtasks", "start_step": 2235, "end_step": 2301, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: hold: Right hand holds the pressed paper filter in position inside the glass dripper without any movement or hand shape change."}, {"label": "subtasks", "start_step": 2302, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: press: Right hand rotates its wrist slightly, moves its fingertip along the inner side wall of the paper filter, and presses the filter against the inner surface of the glass dripper to shape the filter."}, {"label": "subtasks", "start_step": 2438, "end_step": 2549, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: hold: Right hand rests its fingertip inside the shaped paper filter, holding the filter in place without any movement or hand shape change."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: release: Right hand opens its fingers and withdraws its fingertip from the interior of the paper filter, releasing all contact with the filter."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: retreat: Right hand moves upward and to the right while empty, retreating away from the glass dripper assembly."}, {"label": "home", "start_step": 2644, "end_step": 2791, "id": "0i3EJZJiYN4XsidRMYWMV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves slightly to the left home position while remaining empty. | Right hand: idle: Right hand remains empty at the right initial position above the table without any observable movement."}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: idle: Right hand remains empty at the right initial position above the table without any observable movement."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward and toward the transparent glass pitcher on the table with open fingers, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: grasp: Right hand contacts the transparent glass pitcher on the table, fingers close and make slight adjustments to form a stable grip on the pitcher."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the transparent glass pitcher off the right section of the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped transparent glass pitcher and moves it to the lower left area above the table."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: place: Right hand lowers the transparent glass pitcher onto the black table surface until the pitcher is stably supported by the table."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: release: Right hand releases the clear glass pitcher on the black table, fingers opening to disengage from the pitcher."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: retreat: Right hand moves upward and rightward away from the glass pitcher, retreating to the upper right area of the table."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement or contact with objects. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00011", "text": "Left hand: reach: Left hand moves downward toward the yellow ring-shaped object placed left of the glass funnel on the table, approaching the target. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand makes contact with the yellow ring-shaped object, fingers closing and making small adjustments to establish a stable grip on the object. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object steadily on the table with no observable movement or grip adjustment. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: lift: Left hand holds the yellow ring-shaped object and lifts it upward until the object is fully separated from the black table surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: transport_place: Left hand carries the yellow ring-shaped object to the position directly above the transparent handled glass container, lowers the object to rest on the container's opening with support from the container. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 442, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object steadily on the opening of the transparent handled glass container without observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: release: Left hand releases the wooden ring on the glass pitcher opening, with fingers separating from the ring surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: reach: Left hand moves empty from above the glass pitcher toward the fluted glass filter placed on the black table, approaching until fingertips touch the filter's top edge. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: grasp: Left hand adjusts finger positions on the top edge of the fluted glass filter, closing fingers to form a stable grasp while the filter remains on the table surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: lift: Left hand holds the fluted glass filter steadily and moves upward, starting to lift the filter from the table surface. | Right hand: idle: Right hand remains empty and stationary in the upper right area above the table with no observable movement."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand holds the lifted glass filter and moves it rightward toward the center of the table to meet the approaching right hand. | Right hand: reach: Right hand moves leftward and downward, approaching the glass filter held by the left hand without making contact at the end of the segment."}, {"label": "subtasks", "start_step": 780, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: transport: Left hand holds the lifted glass filter and moves it rightward toward the center of the table to meet the approaching right hand. | Right hand: grasp: Right hand closes its fingers around the glass filter, making small adjustments to form a stable grip on the object."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the glass filter steady in midair without moving while the right hand grips the object. | Right hand: grasp: Right hand closes its fingers around the glass filter, making small adjustments to form a stable grip on the object."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand opens its fingers to release the glass filter, fully separating from the object. | Right hand: transport: Right hand holds the glass filter and moves it downward toward the glass pitcher with a wooden ring on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: transport: Right hand holds the glass filter and moves it downward toward the glass pitcher with a wooden ring on the table."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the bottom of the glass filter and inserts it into the central hole of the wooden ring on the glass pitcher."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the ribbed glass filter, moves it downward to seat it securely on the wooden collar atop the glass carafe, and releases its grip on the filter."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty toward the stack of light-colored filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the top sheet of the filter paper stack, pinching the sheet to lift it slightly from the stack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers to release the pinched filter paper sheet, allowing the sheet to fall back onto the paper stack."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward to reposition above the filter paper stack for another grasp attempt."}, {"label": "subtasks", "start_step": 1080, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions on the filter paper, closing fingers to form a stable grasp on one sheet of filter paper."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without moving. | Right hand: lift: Right hand holds the grasped filter paper sheet, moves upward to lift the sheet away from the underlying stack of papers."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: reach: Left hand moves rightward with empty fingers toward the brown coffee filter held by the right hand. | Right hand: lift_transport: Right hand grips a single brown coffee filter from the stacked pile, lifts it completely off the supporting stack, then moves it horizontally leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 1268, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: grasp: Left hand closes fingers around the edge of the brown coffee filter, adjusting finger positions to form a secure grip on the filter as the right hand holds the opposite side. | Right hand: hold_release: Right hand holds the brown coffee filter steady in midair to allow the left hand to establish a grip, then opens its fingers to release the filter fully into the left hand's hold."}, {"label": "subtasks", "start_step": 1402, "end_step": 1439, "id": "reasoning-language-00036", "text": "Left hand: unfold: Left hand holds the edge of the brown coffee filter, making small position and orientation adjustments to cooperate with the right hand to separate the folded filter layers and open the filter into a conical shape. | Right hand: reach: Right hand moves leftward with empty fingers toward the brown coffee filter now held by the left hand."}, {"label": "subtasks", "start_step": 1440, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: unfold: Left hand holds the edge of the brown coffee filter, making small position and orientation adjustments to cooperate with the right hand to separate the folded filter layers and open the filter into a conical shape. | Right hand: unfold: Right hand makes contact with the surface of the brown coffee filter, inserts fingers between the folded filter layers, and adjusts wrist and finger positions with small rotations to separate layers and widen the filter opening."}, {"label": "subtasks", "start_step": 1815, "end_step": 1941, "id": "reasoning-language-00038", "text": "Left hand: grasp: Left hand makes continuous slight finger adjustments to secure its grasp on the yellow paper filter, maintaining contact with the filter alongside the right hand. | Right hand: reorient: Right hand grips the yellow paper filter, rotating the wrist slightly to form the filter into a conical shape with minimal overall position change."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00039", "text": "Left hand: release_retreat: Left hand opens fingers to release the yellow paper filter, retreating empty away from the operating area toward the left side of the workspace. | Right hand: reorient: Right hand grips the yellow paper filter, rotating the wrist slightly to form the filter into a conical shape with minimal overall position change."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00040", "text": "Left hand: release_retreat: Left hand opens fingers to release the yellow paper filter, retreating empty away from the operating area toward the left side of the workspace. | Right hand: transport: Right hand grips the conical yellow paper filter, moving it downward toward the glass coffee dripper placed on the table below."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: place: Right hand holds the brown paper filter, moves downward to place the filter onto the glass dripper positioned over the glass carafe, until the filter rests on the dripper rim."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: hold: Right hand holds the top surface of the placed paper filter against the glass dripper without any movement or hand shape change."}, {"label": "subtasks", "start_step": 2108, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: press: Right hand rotates its wrist slightly downward and presses the center of the paper filter with its fingertip, pushing the filter down into the interior of the glass dripper."}, {"label": "subtasks", "start_step": 2235, "end_step": 2301, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: hold: Right hand holds the pressed paper filter in position inside the glass dripper without any movement or hand shape change."}, {"label": "subtasks", "start_step": 2302, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: press: Right hand rotates its wrist slightly, moves its fingertip along the inner side wall of the paper filter, and presses the filter against the inner surface of the glass dripper to shape the filter."}, {"label": "subtasks", "start_step": 2438, "end_step": 2549, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: hold: Right hand rests its fingertip inside the shaped paper filter, holding the filter in place without any movement or hand shape change."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: release: Right hand opens its fingers and withdraws its fingertip from the interior of the paper filter, releasing all contact with the filter."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static pose without contacting any operated objects. | Right hand: retreat: Right hand moves upward and to the right while empty, retreating away from the glass dripper assembly."}], "episode_index": 3}
+{"source_uid": "0c7373205ae5f33b", "num_frames": 2688, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 black table without moving. | Right hand: reach: Right hand moves toward the glass pitcher on the black table from the right side."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "aab8290f-7c11-4094-8574-f0caa9125fcd"}, {"label": "valid", "start_step": 0, "end_step": 2539, "id": "unPhbwvbcQIvAqFjrNRZ8"}, {"label": "subtasks", "start_step": 68, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the glass pitcher on the black table and adjusts the grip slightly."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the glass pitcher upward away from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand moves downward to place the transparent glass pot on the black table surface."}, {"label": "goal", "start_step": 136, "end_step": 219, "id": "6c5242c1-539f-4d9d-8138-9cbf7c80ac2b"}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the transparent glass pot on the black table without moving."}, {"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 black table without moving. | Right hand: release: Right hand releases the small glass cup inside the glass pitcher, with fingers opening to release the grip."}, {"label": "goal", "start_step": 220, "end_step": 366, "id": "2ff2844c-c550-40f7-a17b-d6f885f2ecf7"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the glass pitcher, keeping empty."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: reach: Left hand moves downward toward the yellow circular ring on the black table, keeping empty. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand grasps the yellow circular ring on the black table, with fingers closing to adjust the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the yellow circular ring on the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand grasps the yellow ring on the black table, adjusting fingers to form a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "goal", "start_step": 367, "end_step": 510, "id": "b07977fb-16e9-493d-a5bf-f0d8732307d7"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: lift_transport: Left hand lifts the yellow ring off the table and transports it rightward to above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: place: Left hand places the yellow ring downward onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand adjusts its grip and the position of the yellow ring on the pitcher mouth slightly. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the yellow ring on the mouth of the glass pitcher without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand grasps the transparent glass object inside the glass cup, adjusting fingers to stabilize the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "goal", "start_step": 511, "end_step": 630, "id": "a0f930ea-fb98-4514-bf9e-adb23ffb0a63"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00018", "text": "Left hand: lift_transport: Left hand lifts the transparent glass object out of the glass cup and transports it to the left side of the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 540, "end_step": 547, "id": "reasoning-language-00019", "text": "Left hand: place_release: Left hand places the transparent glass object on the black table surface and releases its grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00020", "text": "Left hand: retreat: Left hand retreats leftward and upward away from the placed transparent glass object. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00021", "text": "Left hand: reach: Left hand reaches toward the transparent glass object on the left side of the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00022", "text": "Left hand: grasp: Left hand grasps the transparent glass object on the table, with fingers continuously adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00023", "text": "Left hand: lift: Left hand lifts the transparent ribbed glass object from the black table surface. | Right hand: reach: Right hand moves towards the transparent ribbed glass object held by the left hand."}, {"label": "goal", "start_step": 631, "end_step": 813, "id": "96d4f9a0-3da1-44df-a407-c4a9b8b51f1a"}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the transparent ribbed glass object in the air without moving. | Right hand: reach: Right hand moves towards the transparent ribbed glass object held by the left hand."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the transparent ribbed glass object in the air without moving. | Right hand: grasp: Right hand grasps the transparent ribbed glass object, with fingers closing around it to form a stable grip."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: release: Left hand releases the transparent ribbed glass object, with fingers opening to separate from the object. | Right hand: grasp: Right hand grasps the transparent ribbed glass object, with fingers closing around it to form a stable grip."}, {"label": "subtasks", "start_step": 750, "end_step": 757, "id": "reasoning-language-00027", "text": "Left hand: release: Left hand releases the transparent ribbed glass object, with fingers opening to separate from the object. | Right hand: transport: Right hand carries the transparent ribbed glass object through the air towards the glass cup with the wooden ring on top."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the transparent ribbed glass object through the air towards the glass cup with the wooden ring on top."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the transparent ribbed glass object into the wooden ring on top of the glass cup."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the glass cup onto the wooden ring on top of the glass container and releases its grip."}, {"label": "goal", "start_step": 814, "end_step": 843, "id": "0f713114-6212-4a62-885f-980e5dd7cae3"}, {"label": "goal", "start_step": 844, "end_step": 1365, "id": "1108ef52-c66f-4377-99a7-8cc0ad5fba4d"}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the stack of fan-shaped sheets on the right side of the table."}, {"label": "subtasks", "start_step": 892, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers on the top fan-shaped sheet to establish a preliminary grasp."}, {"label": "subtasks", "start_step": 990, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the top fan-shaped sheet on the stack without moving."}, {"label": "subtasks", "start_step": 1118, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand readjusts its grip on the top fan-shaped sheet to prepare for lifting."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "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 top fan-shaped sheet off the stack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the lifted fan-shaped sheet to the side of the stack and releases it onto the table."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches back toward the remaining stack of fan-shaped sheets."}, {"label": "subtasks", "start_step": 1268, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers on the next fan-shaped sheet to establish a stable grasp."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the next fan-shaped sheet off the stack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00040", "text": "Left hand: reach: Left hand moves rightward from the left side of the table to approach the wooden piece held by the right hand. | Right hand: grasp_lift: Right hand grasps the top wooden piece from the stack on the black table and lifts it off the surface."}, {"label": "goal", "start_step": 1366, "end_step": 1977, "id": "07d99ba8-2aba-46a1-a3d3-ffc1644fc946"}, {"label": "subtasks", "start_step": 1380, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: reach: Left hand moves rightward from the left side of the table to approach the wooden piece held by the right hand. | Right hand: transport: Right hand transports the wooden piece leftward to the middle area above the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: reach: Left hand moves rightward from the left side of the table to approach the wooden piece held by the right hand. | Right hand: hold: Right hand holds the wooden piece steadily without moving while the left hand adjusts its grasp."}, {"label": "subtasks", "start_step": 1440, "end_step": 1679, "id": "reasoning-language-00043", "text": "Left hand: grasp: Left hand adjusts its fingers to establish a stable grasp on the wooden piece. | Right hand: hold: Right hand holds the wooden piece steadily without moving while the left hand adjusts its grasp."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: grasp: Left hand adjusts its fingers to establish a stable grasp on the wooden piece. | Right hand: release_retreat: Right hand releases the wooden piece and retreats slightly rightward with empty hand."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: reorient: Left hand rotates the wooden piece slightly to adjust its posture while keeping the position roughly unchanged. | Right hand: reach_grasp: Right hand reaches leftward to the wooden piece and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 1718, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: reorient: Left hand rotates the wooden piece slightly to adjust its posture while keeping the position roughly unchanged. | Right hand: reorient: Right hand rotates the wooden piece slightly together with the left hand to adjust its posture, with the position roughly unchanged."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the wooden piece slightly together with the left hand to adjust its posture, with the position roughly unchanged."}, {"label": "goal", "start_step": 1978, "end_step": 2259, "id": "29f3202f-be36-4b22-88dc-1805d20e0700"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: grasp: Right hand adjusts its grasp on the yellow object, fingers slightly reposition to stabilize the grip while the object stays static."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the yellow object up to near-vertical then back to horizontal, with a total rotation of about half a turn."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: grasp: Right hand adjusts its grasp on the yellow object, fingers slightly move to adjust contact points while the object stays static."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the yellow object from horizontal orientation to near-vertical orientation, about a quarter turn."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: grasp: Right hand adjusts its grasp on the yellow object, fingers slightly reposition while the object stays static."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the yellow object from horizontal orientation to near-vertical orientation, about a quarter turn."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: release: Left hand releases the yellow object, fingers open to separate from the object surface. | Right hand: reorient: Right hand rotates the yellow object from horizontal orientation to near-vertical orientation, about a quarter turn."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00055", "text": "Left hand: retreat: Left hand moves leftward away from the yellow paper sheet, remaining empty during the movement. | Right hand: transport: Right hand holds the yellow paper sheet, transports it from the left area to the position above the glass cup, and rotates the paper to a horizontal orientation."}, {"label": "goal", "start_step": 2260, "end_step": 2352, "id": "735aca22-5186-49db-baac-44c0576e5ea0"}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand holds the yellow paper sheet, transports it from the left area to the position above the glass cup, and rotates the paper to a horizontal orientation."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand moves the yellow paper sheet downward and places it onto the rim of the glass cup."}, {"label": "subtasks", "start_step": 2340, "end_step": 2504, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand holds the brown filter paper and adjusts it to align and fit onto the mouth of the glass container."}, {"label": "goal", "start_step": 2353, "end_step": 2502, "id": "6811bf02-8de8-4cf6-bd14-a1584ca69805"}, {"label": "home", "start_step": 2540, "end_step": 2687, "id": "nwX2b5tM0Z3CjyXDzD1qZ"}], "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 black table without moving. | Right hand: reach: Right hand moves toward the glass pitcher on the black table from the right side."}, {"label": "subtasks", "start_step": 68, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the glass pitcher on the black table and adjusts the grip slightly."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the glass pitcher upward away from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand moves downward to place the transparent glass pot on the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the transparent glass pot on the black table without moving."}, {"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 black table without moving. | Right hand: release: Right hand releases the small glass cup inside the glass pitcher, with fingers opening to release the grip."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand moves upward and rightward away from the glass pitcher, keeping empty."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: reach: Left hand moves downward toward the yellow circular ring on the black table, keeping empty. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand grasps the yellow circular ring on the black table, with fingers closing to adjust the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the yellow circular ring on the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand grasps the yellow ring on the black table, adjusting fingers to form a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: lift_transport: Left hand lifts the yellow ring off the table and transports it rightward to above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: place: Left hand places the yellow ring downward onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand adjusts its grip and the position of the yellow ring on the pitcher mouth slightly. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the yellow ring on the mouth of the glass pitcher without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand grasps the transparent glass object inside the glass cup, adjusting fingers to stabilize the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00018", "text": "Left hand: lift_transport: Left hand lifts the transparent glass object out of the glass cup and transports it to the left side of the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 540, "end_step": 547, "id": "reasoning-language-00019", "text": "Left hand: place_release: Left hand places the transparent glass object on the black table surface and releases its grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00020", "text": "Left hand: retreat: Left hand retreats leftward and upward away from the placed transparent glass object. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00021", "text": "Left hand: reach: Left hand reaches toward the transparent glass object on the left side of the table. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00022", "text": "Left hand: grasp: Left hand grasps the transparent glass object on the table, with fingers continuously adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without obvious movement."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00023", "text": "Left hand: lift: Left hand lifts the transparent ribbed glass object from the black table surface. | Right hand: reach: Right hand moves towards the transparent ribbed glass object held by the left hand."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the transparent ribbed glass object in the air without moving. | Right hand: reach: Right hand moves towards the transparent ribbed glass object held by the left hand."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the transparent ribbed glass object in the air without moving. | Right hand: grasp: Right hand grasps the transparent ribbed glass object, with fingers closing around it to form a stable grip."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: release: Left hand releases the transparent ribbed glass object, with fingers opening to separate from the object. | Right hand: grasp: Right hand grasps the transparent ribbed glass object, with fingers closing around it to form a stable grip."}, {"label": "subtasks", "start_step": 750, "end_step": 757, "id": "reasoning-language-00027", "text": "Left hand: release: Left hand releases the transparent ribbed glass object, with fingers opening to separate from the object. | Right hand: transport: Right hand carries the transparent ribbed glass object through the air towards the glass cup with the wooden ring on top."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the transparent ribbed glass object through the air towards the glass cup with the wooden ring on top."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the transparent ribbed glass object into the wooden ring on top of the glass cup."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the glass cup onto the wooden ring on top of the glass container and releases its grip."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the stack of fan-shaped sheets on the right side of the table."}, {"label": "subtasks", "start_step": 892, "end_step": 989, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers on the top fan-shaped sheet to establish a preliminary grasp."}, {"label": "subtasks", "start_step": 990, "end_step": 1117, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the top fan-shaped sheet on the stack without moving."}, {"label": "subtasks", "start_step": 1118, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand readjusts its grip on the top fan-shaped sheet to prepare for lifting."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "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 top fan-shaped sheet off the stack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the lifted fan-shaped sheet to the side of the stack and releases it onto the table."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches back toward the remaining stack of fan-shaped sheets."}, {"label": "subtasks", "start_step": 1268, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers on the next fan-shaped sheet to establish a stable grasp."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the next fan-shaped sheet off the stack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00040", "text": "Left hand: reach: Left hand moves rightward from the left side of the table to approach the wooden piece held by the right hand. | Right hand: grasp_lift: Right hand grasps the top wooden piece from the stack on the black table and lifts it off the surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: reach: Left hand moves rightward from the left side of the table to approach the wooden piece held by the right hand. | Right hand: transport: Right hand transports the wooden piece leftward to the middle area above the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: reach: Left hand moves rightward from the left side of the table to approach the wooden piece held by the right hand. | Right hand: hold: Right hand holds the wooden piece steadily without moving while the left hand adjusts its grasp."}, {"label": "subtasks", "start_step": 1440, "end_step": 1679, "id": "reasoning-language-00043", "text": "Left hand: grasp: Left hand adjusts its fingers to establish a stable grasp on the wooden piece. | Right hand: hold: Right hand holds the wooden piece steadily without moving while the left hand adjusts its grasp."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: grasp: Left hand adjusts its fingers to establish a stable grasp on the wooden piece. | Right hand: release_retreat: Right hand releases the wooden piece and retreats slightly rightward with empty hand."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: reorient: Left hand rotates the wooden piece slightly to adjust its posture while keeping the position roughly unchanged. | Right hand: reach_grasp: Right hand reaches leftward to the wooden piece and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 1718, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: reorient: Left hand rotates the wooden piece slightly to adjust its posture while keeping the position roughly unchanged. | Right hand: reorient: Right hand rotates the wooden piece slightly together with the left hand to adjust its posture, with the position roughly unchanged."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the wooden piece slightly together with the left hand to adjust its posture, with the position roughly unchanged."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: grasp: Right hand adjusts its grasp on the yellow object, fingers slightly reposition to stabilize the grip while the object stays static."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the yellow object up to near-vertical then back to horizontal, with a total rotation of about half a turn."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: grasp: Right hand adjusts its grasp on the yellow object, fingers slightly move to adjust contact points while the object stays static."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the yellow object from horizontal orientation to near-vertical orientation, about a quarter turn."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: grasp: Right hand adjusts its grasp on the yellow object, fingers slightly reposition while the object stays static."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the lower left edge of the yellow sheet-like object without obvious movement. | Right hand: reorient: Right hand rotates the yellow object from horizontal orientation to near-vertical orientation, about a quarter turn."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: release: Left hand releases the yellow object, fingers open to separate from the object surface. | Right hand: reorient: Right hand rotates the yellow object from horizontal orientation to near-vertical orientation, about a quarter turn."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00055", "text": "Left hand: retreat: Left hand moves leftward away from the yellow paper sheet, remaining empty during the movement. | Right hand: transport: Right hand holds the yellow paper sheet, transports it from the left area to the position above the glass cup, and rotates the paper to a horizontal orientation."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand holds the yellow paper sheet, transports it from the left area to the position above the glass cup, and rotates the paper to a horizontal orientation."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand moves the yellow paper sheet downward and places it onto the rim of the glass cup."}, {"label": "subtasks", "start_step": 2340, "end_step": 2504, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand holds the brown filter paper and adjusts it to align and fit onto the mouth of the glass container."}], "episode_index": 4}
+{"source_uid": "c868d3e02d317416", "num_frames": 2908, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 black table without moving. | Right hand: reach: Right hand moves toward the glass pitcher placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 168, "id": "8e2942d8-e23e-4804-812d-e14cc647ed36"}, {"label": "valid", "start_step": 0, "end_step": 2759, "id": "F4lEadau40i7Ju8HLnGbx"}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to form a stable grasp on the glass pitcher."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the glass pitcher upward away from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the transparent glass pot leftward above the black table."}, {"label": "goal", "start_step": 169, "end_step": 243, "id": "2ca0d910-995e-45a1-80d9-1dc178c508d0"}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | 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lift_transport: Left hand lifts the transparent glass funnel from the black table and moves it to the position near the right manipulator. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "goal", "start_step": 634, "end_step": 828, "id": "215c053a-94fc-461f-8f12-23d71703c3b3"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: grasp: Right hand closes its fingers to grasp the transparent glass funnel and adjusts the 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"start_step": 848, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: release: Right hand releases the glass funnel after placing it stably."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: reach: Right hand moves towards the stack of filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: grasp: Right hand grasps the top filter paper from the paper stack."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: lift: Right hand lifts the grasped filter paper off the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: transport: Right hand carries the filter paper to the area above the glass cup."}, {"label": "subtasks", "start_step": 1125, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: reorient: Right hand adjusts the posture of the filter paper with left hand's assistance, position remains roughly unchanged."}, {"label": "subtasks", "start_step": 1132, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: reach_grasp: Left hand moves towards the filter paper held by right hand and grasps its edge. | Right hand: reorient: Right hand adjusts the posture of the filter paper with left hand's assistance, position remains roughly unchanged."}, {"label": "subtasks", "start_step": 1200, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the edge of the filter paper without moving during posture adjustment. | Right hand: reorient: Right hand adjusts the posture of the filter paper with left hand's assistance, position remains roughly unchanged."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: release: Left hand releases the edge of the filter paper. | Right hand: place: Right hand places the filter paper onto the table surface next to the glass cup."}, {"label": "subtasks", "start_step": 1342, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: release: Right hand releases the filter paper after placing it on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: reach: Right hand moves towards the filter paper just placed on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: grasp: Right hand grasps the filter paper on the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: lift: Right hand lifts the filter paper off the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: lift: Right hand lifts the filter paper off the table surface."}, {"label": "goal", "start_step": 1516, "end_step": 2400, "id": "b16dd134-6a89-41de-a3fd-fec3f5e0523c"}, {"label": "subtasks", "start_step": 1545, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: transport_release: Right hand transports the filter paper towards the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00038", "text": "Left hand: grasp: Left hand grasps the filter paper from the right hand. | Right hand: transport_release: Right hand transports the filter paper towards the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the filter paper without obvious movement. | Right hand: reach: Right hand reaches towards the filter paper held by the left hand."}, {"label": "subtasks", "start_step": 1860, "end_step": 2099, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the filter paper without obvious movement. | Right hand: grasp_release: Right hand grasps the filter paper to adjust holding position then releases it."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the filter paper without obvious movement. | Right hand: reach: Right hand reaches towards the side edge of the filter paper."}, {"label": "subtasks", "start_step": 2160, "end_step": 2399, "id": "reasoning-language-00042", "text": "Left hand: fold: Left hand folds the edge of the filter paper to form a cone shape. | Right hand: press: Right hand presses the side edge of the filter paper to adjust its shape."}, {"label": "subtasks", "start_step": 2400, "end_step": 2549, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: fold: Right hand folds the brown filter paper by adjusting fingers to shape the paper."}, {"label": "goal", "start_step": 2401, "end_step": 2550, "id": "f70db095-d591-48db-97a6-10dfa9a161e9"}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: transport: Right hand transports the folded filter paper towards the glass cup on the table."}, {"label": "goal", "start_step": 2551, "end_step": 2643, "id": "668592b7-ac30-4955-aa1d-08951871fc25"}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: place: Right hand places the filter paper onto the rim of the glass cup."}, {"label": "goal", "start_step": 2644, "end_step": 2712, "id": "152de307-a8d1-4f26-a092-f58b381a33b3"}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: release: Right hand releases the filter paper placed on the glass cup rim."}, {"label": "home", "start_step": 2760, "end_step": 2907, "id": "5h6clshys6rgekFUGeolz"}], "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 black table without moving. | Right hand: reach: Right hand moves toward the glass pitcher placed on the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to form a stable grasp on the glass pitcher."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the glass pitcher upward away from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the transparent glass pot leftward above the black table."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the transparent glass pot onto the black table and releases the grip on the pot with fingers opening."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_retreat: Right hand releases the glass pitcher and moves upward away from the pitcher."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves toward the yellow ring placed on the black table. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes fingers to grasp the yellow ring, adjusting grip to stabilize the object. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow ring on the black table without moving. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: lift: Left hand lifts the yellow ring from the black table surface. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00012", "text": "Left hand: transport: Left hand transports the yellow ring above the opening of the glass pitcher. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand places the yellow ring onto the opening of the glass pitcher. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: place_release: Left hand places the wooden ring on the top of the glass pot and releases the ring. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: retreat: Left hand retreats away from the glass pot towards the left side of the table. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand reaches towards the glass funnel placed on the black table. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand grasps the glass funnel, adjusting fingers to form a stable grip. | Right hand: idle: Right hand remains empty in the upper right area without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: lift_transport: Left hand lifts the transparent glass funnel from the black table and moves it to the position near the right manipulator. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: reach: Right hand moves towards the transparent glass funnel held by the left hand."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: grasp: Right hand closes its fingers to grasp the transparent glass funnel and adjusts the grip to keep stable."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: transport: Right hand carries the transparent glass funnel to move above the glass pot with a wooden ring on its top."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: place: Right hand places the transparent glass funnel onto the wooden ring of the glass pot, and the funnel is supported by the ring stably."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: release: Right hand releases the glass funnel after placing it stably."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: reach: Right hand moves towards the stack of filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: grasp: Right hand grasps the top filter paper from the paper stack."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: lift: Right hand lifts the grasped filter paper off the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: transport: Right hand carries the filter paper to the area above the glass cup."}, {"label": "subtasks", "start_step": 1125, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the transparent glass funnel steadily without moving while the right hand grasps the funnel. | Right hand: reorient: Right hand adjusts the posture of the filter paper with left hand's assistance, position remains roughly unchanged."}, {"label": "subtasks", "start_step": 1132, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: reach_grasp: Left hand moves towards the filter paper held by right hand and grasps its edge. | Right hand: reorient: Right hand adjusts the posture of the filter paper with left hand's assistance, position remains roughly unchanged."}, {"label": "subtasks", "start_step": 1200, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the edge of the filter paper without moving during posture adjustment. | Right hand: reorient: Right hand adjusts the posture of the filter paper with left hand's assistance, position remains roughly unchanged."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: release: Left hand releases the edge of the filter paper. | Right hand: place: Right hand places the filter paper onto the table surface next to the glass cup."}, {"label": "subtasks", "start_step": 1342, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: release: Right hand releases the filter paper after placing it on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: reach: Right hand moves towards the filter paper just placed on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: grasp: Right hand grasps the filter paper on the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand returns to the left side of the table and remains empty and stationary. | Right hand: lift: Right hand lifts the filter paper off the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: lift: Right hand lifts the filter paper off the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: transport_release: Right hand transports the filter paper towards the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00038", "text": "Left hand: grasp: Left hand grasps the filter paper from the right hand. | Right hand: transport_release: Right hand transports the filter paper towards the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the filter paper without obvious movement. | Right hand: reach: Right hand reaches towards the filter paper held by the left hand."}, {"label": "subtasks", "start_step": 1860, "end_step": 2099, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the filter paper without obvious movement. | Right hand: grasp_release: Right hand grasps the filter paper to adjust holding position then releases it."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the filter paper without obvious movement. | Right hand: reach: Right hand reaches towards the side edge of the filter paper."}, {"label": "subtasks", "start_step": 2160, "end_step": 2399, "id": "reasoning-language-00042", "text": "Left hand: fold: Left hand folds the edge of the filter paper to form a cone shape. | Right hand: press: Right hand presses the side edge of the filter paper to adjust its shape."}, {"label": "subtasks", "start_step": 2400, "end_step": 2549, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: fold: Right hand folds the brown filter paper by adjusting fingers to shape the paper."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: transport: Right hand transports the folded filter paper towards the glass cup on the table."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: place: Right hand places the filter paper onto the rim of the glass cup."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black tabletop without moving. | Right hand: release: Right hand releases the filter paper placed on the glass cup rim."}], "episode_index": 5}
+{"source_uid": "08b2dad985f6b9dc", "num_frames": 2063, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: reach: Right hand moves while empty from its initial upper right position downward toward the clear glass pitcher placed on the center of the table."}, {"label": "goal", "start_step": 0, "end_step": 123, "id": "aa96bb9b-8923-4acc-b07c-ce3f0d9e36f3"}, {"label": "valid", "start_step": 0, "end_step": 1914, "id": "p-0srPpAjKQ2TYMoyDAm4"}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: grasp: Right hand closes and adjusts its fingers around the clear glass pitcher on the table to form a grasp, with the pitcher remaining on the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: place: Right hand moves downward while holding the transparent glass kettle to place it on the black table surface."}, {"label": "goal", "start_step": 124, "end_step": 207, "id": "19a6835f-fa50-4395-9fc3-026f78508872"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: hold: Right hand holds the transparent glass kettle steadily on the black table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves empty from its initial left position toward the yellow ring-shaped object on the black table, approaching the target without contact. | Right hand: release: Right hand opens its fingers to release the clear glass pitcher on the black table, separating from the pitcher's handle."}, {"label": "goal", "start_step": 208, "end_step": 363, "id": "8f2c93ad-9aba-4ef7-9385-bcd58b984ac7"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves empty from its initial left position toward the yellow ring-shaped object on the black table, approaching the target without contact. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the glass pitcher to the upper right area of the frame."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand makes contact with the yellow ring-shaped object, closing and adjusting its fingers to form a grasp while the object stays on the table surface. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the black table steadily with no observable movement of the hand, fingers or the object. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand holds the yellow ring-shaped filter holder resting on the black table surface and lifts it upward until the holder is completely separated from the table. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "goal", "start_step": 364, "end_step": 501, "id": "c6c9d066-1601-44f3-868d-a71c527ef409"}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the lifted yellow filter holder and moves it toward the lower right, positioning the holder directly above the opening of the clear glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand lowers the yellow filter holder onto the rim of the clear glass pitcher, making slight positional adjustments until the holder is stably supported by the pitcher rim. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: place_release: Left hand seats the light brown wooden ring on the opening of the clear glass pitcher, opens fingers to release contact with the fully supported ring. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "goal", "start_step": 502, "end_step": 642, "id": "0a0a85c1-d463-4c62-ae64-ca20465c5131"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty above the clear glass dripper on the black table surface without observable movement. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves downward toward the clear glass dripper resting on the table, approaching the dripper without making contact. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand contacts the upper portion of the clear glass dripper, adjusting finger positions to close around the dripper during grip formation. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand holds the clear fluted glass dripper and lifts it upward until the dripper is fully off the black table surface. | Right hand: reach: Right hand moves empty downward and leftward toward the clear fluted glass dripper held by the left hand, stopping just before contact."}, {"label": "goal", "start_step": 643, "end_step": 816, "id": "4bdce60b-e370-4c8a-8ed6-41fd711fbb52"}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: transport: Left hand carries the lifted clear fluted glass dripper upward and rightward to the handover position in front of the right hand. | Right hand: reach: Right hand moves empty downward and leftward toward the clear fluted glass dripper held by the left hand, stopping just before contact."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper steady at the handover position without moving. | Right hand: reach: Right hand moves empty downward and leftward toward the clear fluted glass dripper held by the left hand, stopping just before contact."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper steady at the handover position without moving. | Right hand: grasp: Right hand closes its fingers around the clear fluted glass dripper, adjusting finger positions to form a stable grasp on the dripper."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper steady at the handover position without moving. | Right hand: transport: Right hand carries the grasped clear fluted glass dripper downward toward the wooden ring on top of the clear glass pitcher below."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand opens its fingers to release the clear fluted glass dripper, separating from the dripper completely. | Right hand: transport: Right hand carries the grasped clear fluted glass dripper downward toward the wooden ring on top of the clear glass pitcher below."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the grasped clear fluted glass dripper downward toward the wooden ring on top of the clear glass pitcher below."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the clear fluted glass dripper with the wooden ring opening and inserts the dripper into the ring to establish the assembly fit."}, {"label": "goal", "start_step": 817, "end_step": 846, "id": "8daf7bf7-7c49-4422-8c28-1e5a07c7aadf"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "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: place: Right hand holds the fluted glass filter and moves downward to place it onto the wooden ring atop the clear glass container, until the filter is fully supported by the ring."}, {"label": "goal", "start_step": 847, "end_step": 1101, "id": "5a0f2162-4b86-4386-9a69-bed2b7c7a644"}, {"label": "subtasks", "start_step": 848, "end_step": 861, "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: release: Right hand opens its fingers to release the glass filter, separating its digits from the filter surface."}, {"label": "subtasks", "start_step": 862, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves rightward from the glass filter position toward the stack of beige filter papers on the table, approaching the top surface of the paper stack without making contact."}, {"label": "subtasks", "start_step": 915, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the top of the filter paper stack, adjusts wrist position and finger opening/closing to attempt grasping a single sheet of filter paper, with minor finger and wrist movements throughout the period."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: reach: Left hand moves empty rightward through the air toward the coffee filter held by the right hand. | Right hand: lift: Right hand holds the edge of the top coffee filter on the paper stack and lifts it upward, raising the filter completely off the supporting stack."}, {"label": "goal", "start_step": 1102, "end_step": 1500, "id": "9f919410-f12a-4e4b-98cd-158c5866c773"}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: reach: Left hand moves empty rightward through the air toward the coffee filter held by the right hand. | Right hand: transport: Right hand carries the lifted coffee filter leftward through the air toward the approaching left hand."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: grasp: Left hand closes its fingers around the edge of the coffee filter, making small adjustments to establish a stable grasp on the filter. | Right hand: transport: Right hand carries the lifted coffee filter leftward through the air toward the approaching left hand."}, {"label": "subtasks", "start_step": 1170, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: grasp: Left hand closes its fingers around the edge of the coffee filter, making small adjustments to establish a stable grasp on the filter. | Right hand: hold: Right hand holds the coffee filter steadily in midair above the table without visible movement."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: release: Right hand opens its fingers to release the coffee filter, separating from the filter which is now held by the left hand."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the coffee filter's position."}, {"label": "subtasks", "start_step": 1282, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: reach: Right hand moves empty leftward through the air toward the coffee filter held by the left hand."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: grasp: Right hand closes its fingers around the coffee filter, making small adjustments to establish a stable grasp on the filter."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: reorient: Right hand rotates the grasped coffee filter slightly via wrist movement to adjust its orientation, keeping its position roughly unchanged above the table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: release: Left hand opens its fingers to release the coffee filter, separating from the filter as one sheet falls to the table below. | Right hand: reorient: Right hand rotates the grasped coffee filter slightly via wrist movement to adjust its orientation, keeping its position roughly unchanged above the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1499, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty above the left side of the table without any visible movement. | Right hand: reorient: Right hand rotates the grasped coffee filter slightly via wrist movement to adjust its orientation, keeping its position roughly unchanged above the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: grasp: Left hand grasps the edge of the brown paper coffee filter, making slight finger adjustments to maintain grip while the filter is folded. | Right hand: fold: Right hand folds the brown paper coffee filter, pressing the flexible filter material to form a conical funnel shape."}, {"label": "goal", "start_step": 1501, "end_step": 1626, "id": "cf21d9c4-b167-48ed-a563-0c92a17d8d39"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: grasp: Left hand grasps the edge of the brown paper coffee filter, making slight finger adjustments to maintain grip while the filter is folded. | Right hand: hold: Right hand holds the folded conical brown paper coffee filter without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: release: Left hand opens its gripper fingers to release contact with the edge of the brown paper coffee filter. | Right hand: hold: Right hand holds the folded conical brown paper coffee filter without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: transport: Right hand holds the folded brown paper filter, moving it downward toward the glass dripper while slightly rotating the wrist to adjust the filter's orientation."}, {"label": "goal", "start_step": 1627, "end_step": 1752, "id": "33c3a2c4-0db7-4004-95c8-f3f449a32b5c"}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: place: Right hand lowers the folded brown paper filter into the glass dripper, adjusting its position to fit the dripper's opening."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: press: Right hand presses the brown paper filter downward to adjust its shape and seat it fully inside the plastic ring on top of the clear glass container."}, {"label": "goal", "start_step": 1753, "end_step": 1854, "id": "93e5d19a-9d32-4bb3-a863-9c73c09d8f0f"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: hold: Right hand stays in contact with the seated brown paper filter without noticeable movement."}, {"label": "home", "start_step": 1915, "end_step": 2062, "id": "bCgtFUcZVPplDU6f-fTtk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: reach: Right hand moves while empty from its initial upper right position downward toward the clear glass pitcher placed on the center of the table."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: grasp: Right hand closes and adjusts its fingers around the clear glass pitcher on the table to form a grasp, with the pitcher remaining on the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: place: Right hand moves downward while holding the transparent glass kettle to place it on the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the left side of the black tabletop, with no contact to any objects. | Right hand: hold: Right hand holds the transparent glass kettle steadily on the black table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: reach: Left hand moves empty from its initial left position toward the yellow ring-shaped object on the black table, approaching the target without contact. | Right hand: release: Right hand opens its fingers to release the clear glass pitcher on the black table, separating from the pitcher's handle."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: reach: Left hand moves empty from its initial left position toward the yellow ring-shaped object on the black table, approaching the target without contact. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the glass pitcher to the upper right area of the frame."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand makes contact with the yellow ring-shaped object, closing and adjusting its fingers to form a grasp while the object stays on the table surface. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the black table steadily with no observable movement of the hand, fingers or the object. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand holds the yellow ring-shaped filter holder resting on the black table surface and lifts it upward until the holder is completely separated from the table. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the lifted yellow filter holder and moves it toward the lower right, positioning the holder directly above the opening of the clear glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand lowers the yellow filter holder onto the rim of the clear glass pitcher, making slight positional adjustments until the holder is stably supported by the pitcher rim. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: place_release: Left hand seats the light brown wooden ring on the opening of the clear glass pitcher, opens fingers to release contact with the fully supported ring. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty above the clear glass dripper on the black table surface without observable movement. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves downward toward the clear glass dripper resting on the table, approaching the dripper without making contact. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand contacts the upper portion of the clear glass dripper, adjusting finger positions to close around the dripper during grip formation. | Right hand: idle: Right hand remains empty at the upper right area of the frame with no observable movement."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand holds the clear fluted glass dripper and lifts it upward until the dripper is fully off the black table surface. | Right hand: reach: Right hand moves empty downward and leftward toward the clear fluted glass dripper held by the left hand, stopping just before contact."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: transport: Left hand carries the lifted clear fluted glass dripper upward and rightward to the handover position in front of the right hand. | Right hand: reach: Right hand moves empty downward and leftward toward the clear fluted glass dripper held by the left hand, stopping just before contact."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper steady at the handover position without moving. | Right hand: reach: Right hand moves empty downward and leftward toward the clear fluted glass dripper held by the left hand, stopping just before contact."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper steady at the handover position without moving. | Right hand: grasp: Right hand closes its fingers around the clear fluted glass dripper, adjusting finger positions to form a stable grasp on the dripper."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the clear fluted glass dripper steady at the handover position without moving. | Right hand: transport: Right hand carries the grasped clear fluted glass dripper downward toward the wooden ring on top of the clear glass pitcher below."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand opens its fingers to release the clear fluted glass dripper, separating from the dripper completely. | Right hand: transport: Right hand carries the grasped clear fluted glass dripper downward toward the wooden ring on top of the clear glass pitcher below."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the grasped clear fluted glass dripper downward toward the wooden ring on top of the clear glass pitcher below."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the clear fluted glass dripper with the wooden ring opening and inserts the dripper into the ring to establish the assembly fit."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "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: place: Right hand holds the fluted glass filter and moves downward to place it onto the wooden ring atop the clear glass container, until the filter is fully supported by the ring."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "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: release: Right hand opens its fingers to release the glass filter, separating its digits from the filter surface."}, {"label": "subtasks", "start_step": 862, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves rightward from the glass filter position toward the stack of beige filter papers on the table, approaching the top surface of the paper stack without making contact."}, {"label": "subtasks", "start_step": 915, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the top of the filter paper stack, adjusts wrist position and finger opening/closing to attempt grasping a single sheet of filter paper, with minor finger and wrist movements throughout the period."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: reach: Left hand moves empty rightward through the air toward the coffee filter held by the right hand. | Right hand: lift: Right hand holds the edge of the top coffee filter on the paper stack and lifts it upward, raising the filter completely off the supporting stack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: reach: Left hand moves empty rightward through the air toward the coffee filter held by the right hand. | Right hand: transport: Right hand carries the lifted coffee filter leftward through the air toward the approaching left hand."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: grasp: Left hand closes its fingers around the edge of the coffee filter, making small adjustments to establish a stable grasp on the filter. | Right hand: transport: Right hand carries the lifted coffee filter leftward through the air toward the approaching left hand."}, {"label": "subtasks", "start_step": 1170, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: grasp: Left hand closes its fingers around the edge of the coffee filter, making small adjustments to establish a stable grasp on the filter. | Right hand: hold: Right hand holds the coffee filter steadily in midair above the table without visible movement."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: release: Right hand opens its fingers to release the coffee filter, separating from the filter which is now held by the left hand."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the coffee filter's position."}, {"label": "subtasks", "start_step": 1282, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: reach: Right hand moves empty leftward through the air toward the coffee filter held by the left hand."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: grasp: Right hand closes its fingers around the coffee filter, making small adjustments to establish a stable grasp on the filter."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the coffee filter steadily in midair above the table without visible movement. | Right hand: reorient: Right hand rotates the grasped coffee filter slightly via wrist movement to adjust its orientation, keeping its position roughly unchanged above the table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: release: Left hand opens its fingers to release the coffee filter, separating from the filter as one sheet falls to the table below. | Right hand: reorient: Right hand rotates the grasped coffee filter slightly via wrist movement to adjust its orientation, keeping its position roughly unchanged above the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1499, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty above the left side of the table without any visible movement. | Right hand: reorient: Right hand rotates the grasped coffee filter slightly via wrist movement to adjust its orientation, keeping its position roughly unchanged above the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: grasp: Left hand grasps the edge of the brown paper coffee filter, making slight finger adjustments to maintain grip while the filter is folded. | Right hand: fold: Right hand folds the brown paper coffee filter, pressing the flexible filter material to form a conical funnel shape."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: grasp: Left hand grasps the edge of the brown paper coffee filter, making slight finger adjustments to maintain grip while the filter is folded. | Right hand: hold: Right hand holds the folded conical brown paper coffee filter without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: release: Left hand opens its gripper fingers to release contact with the edge of the brown paper coffee filter. | Right hand: hold: Right hand holds the folded conical brown paper coffee filter without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: transport: Right hand holds the folded brown paper filter, moving it downward toward the glass dripper while slightly rotating the wrist to adjust the filter's orientation."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: place: Right hand lowers the folded brown paper filter into the glass dripper, adjusting its position to fit the dripper's opening."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: press: Right hand presses the brown paper filter downward to adjust its shape and seat it fully inside the plastic ring on top of the clear glass container."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty with open fingers in a stationary position above the black table surface. | Right hand: hold: Right hand stays in contact with the seated brown paper filter without noticeable movement."}], "episode_index": 6}
+{"source_uid": "fdbb2cca96fe53d5", "num_frames": 2996, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "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 black table without obvious movement. | Right hand: reach: Right hand moves leftward towards the glass pitcher placed on the black tablecloth."}, {"label": "goal", "start_step": 0, "end_step": 141, "id": "99168e8f-2fbd-43c0-a432-57d231212015"}, {"label": "valid", "start_step": 0, "end_step": 2847, "id": "gUtK9GSpNr9coex2WA2fd"}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand touches the glass pitcher, closes its fingers and adjusts the grip while the pitcher stays on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: lift: Right hand lifts the glass pitcher slightly upward from the table surface."}, {"label": "goal", "start_step": 142, "end_step": 219, "id": "76d50c51-7c7c-4580-8726-80da7a4576c7"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the glass pot from the right side of the black table and transports it leftward to the middle area of the table."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: place: Right hand places the glass pot onto the black table surface in the middle area."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the glass pot on the middle of the black table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: release: Right hand releases the transparent object inside the glass pitcher with fingers opening."}, {"label": "goal", "start_step": 220, "end_step": 327, "id": "04d16c8b-7a6c-48e2-92e7-a1d0b4f09ad4"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: retreat: Right hand retreats upward and rightward away from the glass pitcher, empty."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: reach_grasp: Left hand reaches downward to the yellow ring on the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow ring on the table without moving. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand grasps the yellow ring-shaped object on the table, with fingers adjusting to form a stable grip while the object remains on the table surface. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "goal", "start_step": 328, "end_step": 438, "id": "d711bebc-49f4-4f91-a68d-70b7553dd494"}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: lift_transport: Left hand lifts the yellow ring-shaped object off the table and transports it horizontally to the position above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand places the yellow ring-shaped object downward onto the mouth of the glass pitcher until the object is supported by the pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the mouth of the glass pitcher without moving. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00015", "text": "Left hand: release: Left hand releases the wooden ring on top of the glass cup, with fingers moving upward to separate from the ring. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "goal", "start_step": 439, "end_step": 609, "id": "c4b2ecdd-ee1b-43e4-8f6c-0812c7297d46"}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand reaches toward the fluted glass funnel on the black table, moving upward and leftward. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand grasps the top of the fluted glass funnel, with fingers closing and adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the fluted glass funnel on the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: grasp: Left hand grasps the transparent fluted cup on the black table, adjusting fingers to stabilize the grip while the cup remains on the table surface. | Right hand: reach: Right hand reaches leftward from the upper right area toward the transparent fluted cup held by the left hand."}, {"label": "goal", "start_step": 610, "end_step": 774, "id": "d6fef6af-0d43-43f6-be06-ea6f19e3521f"}, {"label": "subtasks", "start_step": 615, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: lift_transport: Left hand lifts the transparent fluted cup off the black table and transports it rightward toward the right hand. | Right hand: reach: Right hand reaches leftward from the upper right area toward the transparent fluted cup held by the left hand."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00021", "text": "Left hand: lift_transport: Left hand lifts the transparent fluted cup off the black table and transports it rightward toward the right hand. | Right hand: grasp: Right hand grasps the transparent fluted cup, closing fingers and adjusting grip to stabilize the cup."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00022", "text": "Left hand: release: Left hand releases the transparent fluted cup, gradually opening fingers to fully separate from the cup. | Right hand: grasp: Right hand grasps the transparent fluted cup, closing fingers and adjusting grip to stabilize the cup."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand releases the transparent fluted cup, gradually opening fingers to fully separate from the cup. | Right hand: transport: Right hand transports the transparent fluted cup leftward and downward toward the glass container with a wooden ring on top."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand retreats leftward away from the cup while remaining empty. | Right hand: transport: Right hand transports the transparent fluted cup leftward and downward toward the glass container with a wooden ring on top."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: place: Right hand places the transparent fluted cup onto the wooden ring on top of the glass container until the cup is stably supported by the ring."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: place_release: Right hand places the glass dripper onto the wooden ring on top of the glass pot and releases the dripper."}, {"label": "goal", "start_step": 775, "end_step": 804, "id": "cb11df88-9ddf-4011-82ec-39fa88817467"}, {"label": "goal", "start_step": 805, "end_step": 1056, "id": "688c1777-30a4-4cb9-9b6d-2cf08011e41c"}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: reach: Right hand moves empty toward the stack of filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 848, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: grasp: Right hand grasps the top filter paper from the stack, with fingers adjusting contact position and grip continuously to form a stable hold."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: lift: Right hand lifts the top filter paper upward partially from the stack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: reach: Left hand moves rightward from the left side of the frame to approach the filter paper held by the right hand. | Right hand: lift_transport: Right hand lifts the filter paper from the stack on the right side of the table and transports it leftward to above the glass container."}, {"label": "goal", "start_step": 1057, "end_step": 1494, "id": "c209c474-e4e2-491c-bcec-791cde8cd3a8"}, {"label": "subtasks", "start_step": 1110, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: fold: Left hand holds the filter paper and adjusts its shape together with the right hand. | Right hand: fold_release: Right hand adjusts the filter paper shape together with the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the filter paper above the glass container without moving. | Right hand: fold_release: Right hand adjusts the filter paper shape together with the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the filter paper above the glass container without moving. | Right hand: reach_grasp: Right hand moves leftward toward the filter paper held by the left hand and grasps the filter paper."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: fold: Left hand holds the filter paper and continues adjusting its shape together with the right hand. | Right hand: reach_grasp: Right hand moves leftward toward the filter paper held by the left hand and grasps the filter paper."}, {"label": "subtasks", "start_step": 1245, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand holds the filter paper and continues adjusting its shape together with the right hand. | Right hand: fold: Right hand holds the filter paper and continues adjusting its shape together with the left hand."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand adjusts its fingers to stably grasp the yellow filter paper between two hands. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the yellow filter paper between two hands."}, {"label": "goal", "start_step": 1495, "end_step": 1641, "id": "0c87307d-6184-4780-8e03-dcaed7fc1b6d"}, {"label": "subtasks", "start_step": 1522, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: fold: Left hand holds the yellow filter paper and folds it cooperatively, forming the paper into a cone shape. | Right hand: fold: Right hand holds the yellow filter paper and folds it cooperatively, forming the paper into a cone shape."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the folded yellow filter paper without any movement. | Right hand: hold_release: Right hand holds the folded yellow filter paper briefly and releases its grip to separate from the paper."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00039", "text": "Left hand: release: Left hand releases the yellow filter paper, with fingers opening to separate from the paper surface. | Right hand: hold: Right hand holds the yellow filter paper without moving."}, {"label": "goal", "start_step": 1642, "end_step": 1791, "id": "e1a5f85c-f7ca-47fd-83b5-f72b63c2ec43"}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00040", "text": "Left hand: retreat: Left hand retreats leftward away from the filter paper to the left side of the table. | Right hand: transport: Right hand transports the yellow filter paper to the position above the glass cup, slightly rotating the paper to adjust its orientation."}, {"label": "subtasks", "start_step": 1672, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the yellow filter paper to the position above the glass cup, slightly rotating the paper to adjust its orientation."}, {"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 table without moving. | Right hand: place: Right hand places the yellow filter paper downward into the glass cup, adjusting its position on the inner support ring."}, {"label": "subtasks", "start_step": 1785, "end_step": 2804, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_filter_paper: Right hand makes continuous small pressing and lateral repositioning movements on the cone-shaped filter paper resting on the glass dripper atop the glass cup."}, {"label": "goal", "start_step": 1792, "end_step": 2796, "id": "86bc17b1-0033-405b-89c7-e43dc1731538"}, {"label": "home", "start_step": 2848, "end_step": 2995, "id": "L1YgobqJ1BXj2-r_Idf8N"}], "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 black table without obvious movement. | Right hand: reach: Right hand moves leftward towards the glass pitcher placed on the black tablecloth."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: grasp: Right hand touches the glass pitcher, closes its fingers and adjusts the grip while the pitcher stays on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: lift: Right hand lifts the glass pitcher slightly upward from the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: lift_transport: Right hand lifts the glass pot from the right side of the black table and transports it leftward to the middle area of the table."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: place: Right hand places the glass pot onto the black table surface in the middle area."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: hold: Right hand holds the glass pot on the middle of the black table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: release: Right hand releases the transparent object inside the glass pitcher with fingers opening."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without obvious movement. | Right hand: retreat: Right hand retreats upward and rightward away from the glass pitcher, empty."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: reach_grasp: Left hand reaches downward to the yellow ring on the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the yellow ring on the table without moving. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand grasps the yellow ring-shaped object on the table, with fingers adjusting to form a stable grip while the object remains on the table surface. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: lift_transport: Left hand lifts the yellow ring-shaped object off the table and transports it horizontally to the position above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: place: Left hand places the yellow ring-shaped object downward onto the mouth of the glass pitcher until the object is supported by the pitcher. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the mouth of the glass pitcher without moving. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00015", "text": "Left hand: release: Left hand releases the wooden ring on top of the glass cup, with fingers moving upward to separate from the ring. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand reaches toward the fluted glass funnel on the black table, moving upward and leftward. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand grasps the top of the fluted glass funnel, with fingers closing and adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the fluted glass funnel on the black table without moving. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: grasp: Left hand grasps the transparent fluted cup on the black table, adjusting fingers to stabilize the grip while the cup remains on the table surface. | Right hand: reach: Right hand reaches leftward from the upper right area toward the transparent fluted cup held by the left hand."}, {"label": "subtasks", "start_step": 615, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: lift_transport: Left hand lifts the transparent fluted cup off the black table and transports it rightward toward the right hand. | Right hand: reach: Right hand reaches leftward from the upper right area toward the transparent fluted cup held by the left hand."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00021", "text": "Left hand: lift_transport: Left hand lifts the transparent fluted cup off the black table and transports it rightward toward the right hand. | Right hand: grasp: Right hand grasps the transparent fluted cup, closing fingers and adjusting grip to stabilize the cup."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00022", "text": "Left hand: release: Left hand releases the transparent fluted cup, gradually opening fingers to fully separate from the cup. | Right hand: grasp: Right hand grasps the transparent fluted cup, closing fingers and adjusting grip to stabilize the cup."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand releases the transparent fluted cup, gradually opening fingers to fully separate from the cup. | Right hand: transport: Right hand transports the transparent fluted cup leftward and downward toward the glass container with a wooden ring on top."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand retreats leftward away from the cup while remaining empty. | Right hand: transport: Right hand transports the transparent fluted cup leftward and downward toward the glass container with a wooden ring on top."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: place: Right hand places the transparent fluted cup onto the wooden ring on top of the glass container until the cup is stably supported by the ring."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: place_release: Right hand places the glass dripper onto the wooden ring on top of the glass pot and releases the dripper."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: reach: Right hand moves empty toward the stack of filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 848, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: grasp: Right hand grasps the top filter paper from the stack, with fingers adjusting contact position and grip continuously to form a stable hold."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without any movement. | Right hand: lift: Right hand lifts the top filter paper upward partially from the stack."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "text": "Left hand: reach: Left hand moves rightward from the left side of the frame to approach the filter paper held by the right hand. | Right hand: lift_transport: Right hand lifts the filter paper from the stack on the right side of the table and transports it leftward to above the glass container."}, {"label": "subtasks", "start_step": 1110, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: fold: Left hand holds the filter paper and adjusts its shape together with the right hand. | Right hand: fold_release: Right hand adjusts the filter paper shape together with the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the filter paper above the glass container without moving. | Right hand: fold_release: Right hand adjusts the filter paper shape together with the left hand and releases the filter paper."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the filter paper above the glass container without moving. | Right hand: reach_grasp: Right hand moves leftward toward the filter paper held by the left hand and grasps the filter paper."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: fold: Left hand holds the filter paper and continues adjusting its shape together with the right hand. | Right hand: reach_grasp: Right hand moves leftward toward the filter paper held by the left hand and grasps the filter paper."}, {"label": "subtasks", "start_step": 1245, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand holds the filter paper and continues adjusting its shape together with the right hand. | Right hand: fold: Right hand holds the filter paper and continues adjusting its shape together with the left hand."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand adjusts its fingers to stably grasp the yellow filter paper between two hands. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the yellow filter paper between two hands."}, {"label": "subtasks", "start_step": 1522, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: fold: Left hand holds the yellow filter paper and folds it cooperatively, forming the paper into a cone shape. | Right hand: fold: Right hand holds the yellow filter paper and folds it cooperatively, forming the paper into a cone shape."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the folded yellow filter paper without any movement. | Right hand: hold_release: Right hand holds the folded yellow filter paper briefly and releases its grip to separate from the paper."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00039", "text": "Left hand: release: Left hand releases the yellow filter paper, with fingers opening to separate from the paper surface. | Right hand: hold: Right hand holds the yellow filter paper without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00040", "text": "Left hand: retreat: Left hand retreats leftward away from the filter paper to the left side of the table. | Right hand: transport: Right hand transports the yellow filter paper to the position above the glass cup, slightly rotating the paper to adjust its orientation."}, {"label": "subtasks", "start_step": 1672, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the yellow filter paper to the position above the glass cup, slightly rotating the paper to adjust its orientation."}, {"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 table without moving. | Right hand: place: Right hand places the yellow filter paper downward into the glass cup, adjusting its position on the inner support ring."}, {"label": "subtasks", "start_step": 1785, "end_step": 2804, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_filter_paper: Right hand makes continuous small pressing and lateral repositioning movements on the cone-shaped filter paper resting on the glass dripper atop the glass cup."}], "episode_index": 7}
+{"source_uid": "0160ae2216fe67ee", "num_frames": 2436, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves backward away from the operation area with empty hand. | Right hand: reach: Right hand moves forward toward the clear glass pitcher placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "008dce0d-79ed-43d8-bda9-4c6aa487ca76"}, {"label": "valid", "start_step": 0, "end_step": 2287, "id": "rDcB37Ypcq_bRyqy6ZkXX"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: reach: Right hand moves forward toward the clear glass pitcher placed on the black table."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the clear glass pitcher."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: lift: Right hand lifts the clear glass pitcher upward to make it leave the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: place: Right hand places the glass jug onto the black table surface."}, {"label": "goal", "start_step": 121, "end_step": 183, "id": "46e3d763-10ba-4aef-8e05-233f3f088346"}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: release: Right hand releases the glass jug, fingers open and separate from the jug."}, {"label": "goal", "start_step": 184, "end_step": 297, "id": "213eb1d0-c796-4613-a384-6781fe8d3af7"}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand reaches toward the yellow ring-shaped object on the black table. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 248, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand grasps the yellow ring-shaped object, fingers close and adjust grip posture. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "goal", "start_step": 298, "end_step": 402, "id": "d501ec1e-8fd0-46db-bba6-b917af5ce604"}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: lift_transport: Left hand lifts the yellow circular object off the table and transports it above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand places the yellow circular object onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the yellow circular object on the mouth of the glass pitcher without moving. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00013", "text": "Left hand: release: Left hand releases the wooden ring on the top of the glass cup by opening its fingers. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "goal", "start_step": 403, "end_step": 513, "id": "c99971e1-843d-4e9f-924a-eb45854a5d36"}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves toward the glass funnel placed on the left side of the table. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand grasps the glass funnel on the table by closing its fingers. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand lifts the grasped glass funnel upward away from the table surface. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: lift: Left hand lifts the grasped glass funnel upward away from the table surface. | Right hand: reach: Right hand moves towards the transparent funnel held by the left hand."}, {"label": "goal", "start_step": 514, "end_step": 675, "id": "2e7dc959-1259-4b61-a3b2-2434afd8d8e9"}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the transparent funnel without moving while the right hand approaches to grasp it. | Right hand: reach: Right hand moves towards the transparent funnel held by the left hand."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the transparent funnel without moving while the right hand approaches to grasp it. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the transparent funnel."}, {"label": "subtasks", "start_step": 615, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: release: Left hand opens its fingers to release the transparent funnel. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the transparent funnel."}, {"label": "subtasks", "start_step": 622, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand opens its fingers to release the transparent funnel. | Right hand: transport: Right hand carries the transparent funnel towards the glass cup with a wooden ring on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand carries the transparent funnel towards the glass cup with a wooden ring on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the transparent funnel onto the wooden ring on top of the glass cup."}, {"label": "goal", "start_step": 676, "end_step": 690, "id": "25062aea-d0df-403b-8535-ab5c0b0eb07a"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the glass filter cup which is supported by the glass container."}, {"label": "goal", "start_step": 691, "end_step": 1335, "id": "fea131df-30ab-4bfd-8012-da4a3de39afd"}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves towards the stack of fan-shaped filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 742, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand contacts and adjusts its grip on the top filter paper of the stack."}, {"label": "subtasks", "start_step": 998, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the top filter paper from the stack and moves it slightly in the air."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the filter paper, which falls back onto the paper stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand contacts and adjusts its grip on the top filter paper of the stack again."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the fan-shaped paper from the paper stack on the right side of the table."}, {"label": "goal", "start_step": 1336, "end_step": 1758, "id": "95caf378-35c4-43d8-86c1-282c6a9e0a95"}, {"label": "subtasks", "start_step": 1380, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the fan-shaped paper in mid-air without moving."}, {"label": "subtasks", "start_step": 1388, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: reach: Left hand moves towards the fan-shaped paper held by the right hand. | Right hand: hold: Right hand holds the fan-shaped paper in mid-air without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1491, "id": "reasoning-language-00033", "text": "Left hand: reach: Left hand moves towards the fan-shaped paper held by the right hand. | Right hand: grasp: Right hand adjusts its grip on the fan-shaped paper to cooperate with the left hand."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: grasp: Left hand grasps the edge of the fan-shaped paper. | Right hand: grasp: Right hand adjusts its grip on the fan-shaped paper to cooperate with the left hand."}, {"label": "subtasks", "start_step": 1575, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand folds the fan-shaped paper together with the right hand. | Right hand: fold: Right hand folds the fan-shaped paper together with the left hand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand grasps the yellow filter paper and makes slight grip adjustments. | Right hand: fold: Right hand folds the fan-shaped paper together with the left hand."}, {"label": "goal", "start_step": 1759, "end_step": 1944, "id": "28b3a98d-ced1-4c4f-a0cb-24c73cce0838"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00037", "text": "Left hand: grasp: Left hand grasps the yellow filter paper and makes slight grip adjustments. | Right hand: hold: Right hand holds the conical yellow filter paper steadily without movement."}, {"label": "subtasks", "start_step": 1928, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: retreat: Left hand releases the filter paper and retreats leftward. | Right hand: hold: Right hand holds the conical yellow filter paper steadily without movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00039", "text": "Left hand: other:adjust_filter_paper: Left hand adjusts the edge of the yellow filter paper held by the right hand. | Right hand: transport: Right hand transports the yellow filter paper towards the glass cup, slightly adjusting the orientation of the filter paper."}, {"label": "goal", "start_step": 1945, "end_step": 2037, "id": "7b3dc788-30ae-4346-8b32-b032a6574741"}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00040", "text": "Left hand: retreat: Left hand retreats from the filter paper to the left resting position. | Right hand: transport: Right hand transports the yellow filter paper towards the glass cup, slightly adjusting the orientation of the filter paper."}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the yellow filter paper towards the glass cup, slightly adjusting the orientation of the filter paper."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the yellow filter paper onto the opening of the glass cup."}, {"label": "subtasks", "start_step": 2025, "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 yellow filter paper on the glass cup opening without moving."}, {"label": "goal", "start_step": 2038, "end_step": 2241, "id": "b538b96e-5eab-4c90-a7a3-6954bddf2b1c"}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the brown filter paper on top of the glass container to adjust its fitting position."}, {"label": "subtasks", "start_step": 2130, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the filter paper towards the upper right side."}, {"label": "home", "start_step": 2288, "end_step": 2435, "id": "DbLCDw4zxZ-4Z-1DhMEed"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves backward away from the operation area with empty hand. | Right hand: reach: Right hand moves forward toward the clear glass pitcher placed on the black table."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: reach: Right hand moves forward toward the clear glass pitcher placed on the black table."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the clear glass pitcher."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: lift: Right hand lifts the clear glass pitcher upward to make it leave the table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: place: Right hand places the glass jug onto the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: release: Right hand releases the glass jug, fingers open and separate from the jug."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left upper area without any movement. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand reaches toward the yellow ring-shaped object on the black table. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 248, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand grasps the yellow ring-shaped object, fingers close and adjust grip posture. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: lift_transport: Left hand lifts the yellow circular object off the table and transports it above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand places the yellow circular object onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the yellow circular object on the mouth of the glass pitcher without moving. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00013", "text": "Left hand: release: Left hand releases the wooden ring on the top of the glass cup by opening its fingers. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves toward the glass funnel placed on the left side of the table. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand grasps the glass funnel on the table by closing its fingers. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand lifts the grasped glass funnel upward away from the table surface. | Right hand: idle: Right hand remains empty at the upper right of the frame without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: lift: Left hand lifts the grasped glass funnel upward away from the table surface. | Right hand: reach: Right hand moves towards the transparent funnel held by the left hand."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the transparent funnel without moving while the right hand approaches to grasp it. | Right hand: reach: Right hand moves towards the transparent funnel held by the left hand."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the transparent funnel without moving while the right hand approaches to grasp it. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the transparent funnel."}, {"label": "subtasks", "start_step": 615, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: release: Left hand opens its fingers to release the transparent funnel. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the transparent funnel."}, {"label": "subtasks", "start_step": 622, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand opens its fingers to release the transparent funnel. | Right hand: transport: Right hand carries the transparent funnel towards the glass cup with a wooden ring on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand carries the transparent funnel towards the glass cup with a wooden ring on the table."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the transparent funnel onto the wooden ring on top of the glass cup."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the glass filter cup which is supported by the glass container."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves towards the stack of fan-shaped filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 742, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand contacts and adjusts its grip on the top filter paper of the stack."}, {"label": "subtasks", "start_step": 998, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the top filter paper from the stack and moves it slightly in the air."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the filter paper, which falls back onto the paper stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand contacts and adjusts its grip on the top filter paper of the stack again."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the fan-shaped paper from the paper stack on the right side of the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: hold: Right hand holds the fan-shaped paper in mid-air without moving."}, {"label": "subtasks", "start_step": 1388, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: reach: Left hand moves towards the fan-shaped paper held by the right hand. | Right hand: hold: Right hand holds the fan-shaped paper in mid-air without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1491, "id": "reasoning-language-00033", "text": "Left hand: reach: Left hand moves towards the fan-shaped paper held by the right hand. | Right hand: grasp: Right hand adjusts its grip on the fan-shaped paper to cooperate with the left hand."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: grasp: Left hand grasps the edge of the fan-shaped paper. | Right hand: grasp: Right hand adjusts its grip on the fan-shaped paper to cooperate with the left hand."}, {"label": "subtasks", "start_step": 1575, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand folds the fan-shaped paper together with the right hand. | Right hand: fold: Right hand folds the fan-shaped paper together with the left hand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand grasps the yellow filter paper and makes slight grip adjustments. | Right hand: fold: Right hand folds the fan-shaped paper together with the left hand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00037", "text": "Left hand: grasp: Left hand grasps the yellow filter paper and makes slight grip adjustments. | Right hand: hold: Right hand holds the conical yellow filter paper steadily without movement."}, {"label": "subtasks", "start_step": 1928, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: retreat: Left hand releases the filter paper and retreats leftward. | Right hand: hold: Right hand holds the conical yellow filter paper steadily without movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00039", "text": "Left hand: other:adjust_filter_paper: Left hand adjusts the edge of the yellow filter paper held by the right hand. | Right hand: transport: Right hand transports the yellow filter paper towards the glass cup, slightly adjusting the orientation of the filter paper."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00040", "text": "Left hand: retreat: Left hand retreats from the filter paper to the left resting position. | Right hand: transport: Right hand transports the yellow filter paper towards the glass cup, slightly adjusting the orientation of the filter paper."}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the yellow filter paper towards the glass cup, slightly adjusting the orientation of the filter paper."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the yellow filter paper onto the opening of the glass cup."}, {"label": "subtasks", "start_step": 2025, "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 yellow filter paper on the glass cup opening without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2129, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the brown filter paper on top of the glass container to adjust its fitting position."}, {"label": "subtasks", "start_step": 2130, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the filter paper towards the upper right side."}], "episode_index": 8}
+{"source_uid": "8c5718dcc434bb57", "num_frames": 2008, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: idle: Right hand remains empty in its initial raised position on the right side of the workspace without active movement toward any object."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "75f0506f-25ea-482e-ba0c-0116bc9be9fc"}, {"label": "valid", "start_step": 0, "end_step": 1858, "id": "sWxndBnvTRP7Q6rpcb-dN"}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: reach: Right hand, with fingers held open, moves down and left toward the clear glass pitcher resting on the black table surface."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: grasp: Right hand inserts fingers into the opening of the clear glass pitcher, adjusting finger positions to form a stable grip on the pitcher while the pitcher remains supported by the table."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: lift: Right hand, holding the clear glass pitcher firmly, moves upward to lift the pitcher completely off the black table surface."}, {"label": "goal", "start_step": 121, "end_step": 183, "id": "c053c667-115d-4bf7-b466-5d030063fef5"}, {"label": "subtasks", "start_step": 135, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: place: Right hand holds the clear glass pitcher, moves downward to set the pitcher on the black tablecloth until the pitcher is stably supported by the table surface."}, {"label": "goal", "start_step": 184, "end_step": 303, "id": "01a77482-4b0a-46f9-87f3-e8079315555e"}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: release_retreat: Right hand opens fingers to release the glass pitcher, moves upward and rightward away from the pitcher to the upper right workspace area."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: reach_grasp: Left hand moves toward the yellow ring-shaped object on the left side of the table, closes fingers to form a stable grasp on the object. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the left table surface without observable movement. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand grips the yellow ring-shaped object on the table and lifts it upward until the ring is completely separated from the table surface. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "goal", "start_step": 304, "end_step": 453, "id": "71354905-f9ce-4df9-b05d-1f1ad315b367"}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand holds the lifted yellow ring-shaped object and moves it down-right to the position directly above the opening of the glass pitcher. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 368, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand lowers the yellow ring-shaped object onto the glass pitcher opening, making slight positional adjustments to set the ring stably on the pitcher. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: retreat: Left hand moves upward and leftward away from the wooden ring resting on the glass pitcher, with no object held. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "goal", "start_step": 454, "end_step": 570, "id": "d503cbba-9757-46d5-8ee5-9f3b0d7225b5"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty above the upper left area of the work surface with no observable movement. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves downward toward the fluted glass dripper on the black tabletop, fingers slightly open. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand closes fingers around the fluted glass dripper, adjusting finger positions to form a stable grasp while the dripper stays on the table. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 570, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand begins lifting the fluted glass dripper upward from the table while maintaining a stable grasp on the dripper. | Right hand: reach: Right hand moves empty from its initial upper right position toward the glass dripper held by the left hand."}, {"label": "goal", "start_step": 571, "end_step": 735, "id": "ceaeeed5-a9dc-4469-b104-b3aaf1a3f18c"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand closes its mechanical fingers around the transparent fluted glass dripper resting on the black work surface. | Right hand: reach: Right hand moves empty from its initial upper right position toward the glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: lift: Left hand lifts the grasped glass dripper vertically upward to raise it completely off the black table surface. | Right hand: reach: Right hand moves empty from its initial upper right position toward the glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 630, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: hold_release: Left hand holds the lifted glass dripper steady in midair and opens its fingers to release the dripper to the opposite hand. | Right hand: grasp: Right hand closes its mechanical fingers around the glass dripper to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the firmly grasped glass dripper downward toward the opening of the glass carafe positioned below."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: place: Right hand slightly rotates the glass dripper while lowering it to rest securely on the wooden ring atop the glass carafe."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand places the transparent glass dripper onto the wooden ring atop the glass jar and releases its grip on the dripper."}, {"label": "goal", "start_step": 736, "end_step": 766, "id": "5da0977b-8f0b-4d23-8871-ae82daeed44c"}, {"label": "goal", "start_step": 767, "end_step": 969, "id": "970248b8-0dc8-43b6-bab7-2817e4b25e55"}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty from above the glass dripper toward the stack of light yellow filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 855, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the top sheet of the light yellow filter paper stack, closing fingers and adjusting contact positions to establish a secure grip."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: lift: Right hand grips the top light brown paper filter on the stacked filters, lifting it upward to fully separate from the supporting stack on the table."}, {"label": "goal", "start_step": 970, "end_step": 1377, "id": "c6d781c5-bae7-4aa0-9cc8-c8aa246be2ec"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted paper filter, moving it horizontally leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: reach: Left hand moves rightward toward the light brown paper filter held by the right hand, with fingers held slightly open. | Right hand: transport: Right hand carries the lifted paper filter, moving it horizontally leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: hold: Right hand holds the paper filter stationary in midair, with no noticeable movement of the hand or filter."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: release_retreat: Right hand opens fingers to release the paper filter, moving upward and rightward away from the filter."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: reach: Right hand moves leftward toward the paper filter now held by the left hand, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1170, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: grasp: Right hand closes fingers around the opposite edge of the paper filter, making small continuous adjustments to the grip and the filter's shape."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: release_retreat: Left hand opens fingers to release the paper filter, moving leftward a short distance away from the filter. | Right hand: grasp: Right hand closes fingers around the opposite edge of the paper filter, making small continuous adjustments to the grip and the filter's shape."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand moves rightward to contact the paper filter again, closing fingers around the filter edge with ongoing slight grip adjustments. | Right hand: grasp: Right hand closes fingers around the opposite edge of the paper filter, making small continuous adjustments to the grip and the filter's shape."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: unfold: Left hand holds the edge of the yellow folded filter paper and moves slightly to coordinate unfolding the filter paper. | Right hand: unfold: Right hand holds the upper edge of the yellow folded filter paper and moves upward to unfold the filter paper into a cone shape."}, {"label": "goal", "start_step": 1378, "end_step": 1485, "id": "b078a1cb-6108-4df3-ac86-0a662f882c8e"}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the edge of the unfolded yellow filter paper steadily without observable movement or hand shape change. | Right hand: hold: Right hand holds the upper edge of the unfolded yellow filter paper steadily without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: release: Left hand opens its thumb gradually to release the edge of the yellow filter paper, separating from the paper surface. | Right hand: hold: Right hand holds the upper edge of the unfolded yellow filter paper steadily without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: retreat: Left hand moves leftward and upward away from the area near the paper filter, retracting from the operation zone to the left side of the workspace. | Right hand: transport: Right hand holds the light brown paper filter and moves it vertically downward toward the glass dripper on the black table surface."}, {"label": "goal", "start_step": 1486, "end_step": 1590, "id": "88c3fc48-36c5-49e0-92a1-52524fe97b49"}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: transport: Right hand holds the light brown paper filter and moves it vertically downward toward the glass dripper on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: place: Right hand lowers the light brown paper filter into the glass dripper, setting it to rest on the dripper's upper supporting ring."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: hold: Right hand holds the positioned light brown paper filter on the glass dripper without any visible movement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: press_release: Right hand presses the tilted edge of the brown coffee filter on the glass dripper downward to flatten it, lifting the fingertip free of the filter surface as fingers open."}, {"label": "goal", "start_step": 1591, "end_step": 1806, "id": "c28c889a-175e-4279-8dbf-0f5af7d6767d"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: reach: Right hand moves empty downward toward the top surface of the brown coffee filter on the glass dripper."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: grasp: Right hand contacts the surface of the brown coffee filter, adjusting finger positions slightly to establish a stable hold on the filter."}, {"label": "subtasks", "start_step": 1762, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: hold: Right hand holds the brown coffee filter on the glass dripper without any observable movement of the hand or the filter."}, {"label": "home", "start_step": 1859, "end_step": 2007, "id": "HAZgU5dtjZRfOlzoGFtNX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: idle: Right hand remains empty in its initial raised position on the right side of the workspace without active movement toward any object."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: reach: Right hand, with fingers held open, moves down and left toward the clear glass pitcher resting on the black table surface."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: grasp: Right hand inserts fingers into the opening of the clear glass pitcher, adjusting finger positions to form a stable grip on the pitcher while the pitcher remains supported by the table."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: lift: Right hand, holding the clear glass pitcher firmly, moves upward to lift the pitcher completely off the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: place: Right hand holds the clear glass pitcher, moves downward to set the pitcher on the black tablecloth until the pitcher is stably supported by the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in its raised position on the left side of the workspace without active movement or contact with any object. | Right hand: release_retreat: Right hand opens fingers to release the glass pitcher, moves upward and rightward away from the pitcher to the upper right workspace area."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: reach_grasp: Left hand moves toward the yellow ring-shaped object on the left side of the table, closes fingers to form a stable grasp on the object. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the left table surface without observable movement. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand grips the yellow ring-shaped object on the table and lifts it upward until the ring is completely separated from the table surface. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand holds the lifted yellow ring-shaped object and moves it down-right to the position directly above the opening of the glass pitcher. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 368, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand lowers the yellow ring-shaped object onto the glass pitcher opening, making slight positional adjustments to set the ring stably on the pitcher. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: retreat: Left hand moves upward and leftward away from the wooden ring resting on the glass pitcher, with no object held. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty above the upper left area of the work surface with no observable movement. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: reach: Left hand moves downward toward the fluted glass dripper on the black tabletop, fingers slightly open. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand closes fingers around the fluted glass dripper, adjusting finger positions to form a stable grasp while the dripper stays on the table. | Right hand: idle: Right hand stays empty and motionless at the upper right area of the workspace."}, {"label": "subtasks", "start_step": 570, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: lift: Left hand begins lifting the fluted glass dripper upward from the table while maintaining a stable grasp on the dripper. | Right hand: reach: Right hand moves empty from its initial upper right position toward the glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand closes its mechanical fingers around the transparent fluted glass dripper resting on the black work surface. | Right hand: reach: Right hand moves empty from its initial upper right position toward the glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: lift: Left hand lifts the grasped glass dripper vertically upward to raise it completely off the black table surface. | Right hand: reach: Right hand moves empty from its initial upper right position toward the glass dripper held by the left hand."}, {"label": "subtasks", "start_step": 630, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: hold_release: Left hand holds the lifted glass dripper steady in midair and opens its fingers to release the dripper to the opposite hand. | Right hand: grasp: Right hand closes its mechanical fingers around the glass dripper to establish a stable grip on the object."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: transport: Right hand moves the firmly grasped glass dripper downward toward the opening of the glass carafe positioned below."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: place: Right hand slightly rotates the glass dripper while lowering it to rest securely on the wooden ring atop the glass carafe."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand places the transparent glass dripper onto the wooden ring atop the glass jar and releases its grip on the dripper."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty from above the glass dripper toward the stack of light yellow filter papers on the right side of the table."}, {"label": "subtasks", "start_step": 855, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the top sheet of the light yellow filter paper stack, closing fingers and adjusting contact positions to establish a secure grip."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: lift: Right hand grips the top light brown paper filter on the stacked filters, lifting it upward to fully separate from the supporting stack on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted paper filter, moving it horizontally leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: reach: Left hand moves rightward toward the light brown paper filter held by the right hand, with fingers held slightly open. | Right hand: transport: Right hand carries the lifted paper filter, moving it horizontally leftward toward the approaching left hand."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: hold: Right hand holds the paper filter stationary in midair, with no noticeable movement of the hand or filter."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: release_retreat: Right hand opens fingers to release the paper filter, moving upward and rightward away from the filter."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: reach: Right hand moves leftward toward the paper filter now held by the left hand, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1170, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: grasp: Left hand closes fingers around the edge of the paper filter, making small continuous adjustments to secure the grip. | Right hand: grasp: Right hand closes fingers around the opposite edge of the paper filter, making small continuous adjustments to the grip and the filter's shape."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: release_retreat: Left hand opens fingers to release the paper filter, moving leftward a short distance away from the filter. | Right hand: grasp: Right hand closes fingers around the opposite edge of the paper filter, making small continuous adjustments to the grip and the filter's shape."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand moves rightward to contact the paper filter again, closing fingers around the filter edge with ongoing slight grip adjustments. | Right hand: grasp: Right hand closes fingers around the opposite edge of the paper filter, making small continuous adjustments to the grip and the filter's shape."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: unfold: Left hand holds the edge of the yellow folded filter paper and moves slightly to coordinate unfolding the filter paper. | Right hand: unfold: Right hand holds the upper edge of the yellow folded filter paper and moves upward to unfold the filter paper into a cone shape."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the edge of the unfolded yellow filter paper steadily without observable movement or hand shape change. | Right hand: hold: Right hand holds the upper edge of the unfolded yellow filter paper steadily without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: release: Left hand opens its thumb gradually to release the edge of the yellow filter paper, separating from the paper surface. | Right hand: hold: Right hand holds the upper edge of the unfolded yellow filter paper steadily without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: retreat: Left hand moves leftward and upward away from the area near the paper filter, retracting from the operation zone to the left side of the workspace. | Right hand: transport: Right hand holds the light brown paper filter and moves it vertically downward toward the glass dripper on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: transport: Right hand holds the light brown paper filter and moves it vertically downward toward the glass dripper on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: place: Right hand lowers the light brown paper filter into the glass dripper, setting it to rest on the dripper's upper supporting ring."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: hold: Right hand holds the positioned light brown paper filter on the glass dripper without any visible movement."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: press_release: Right hand presses the tilted edge of the brown coffee filter on the glass dripper downward to flatten it, lifting the fingertip free of the filter surface as fingers open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: reach: Right hand moves empty downward toward the top surface of the brown coffee filter on the glass dripper."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: grasp: Right hand contacts the surface of the brown coffee filter, adjusting finger positions slightly to establish a stable hold on the filter."}, {"label": "subtasks", "start_step": 1762, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving, with fingers maintained in a fixed extended position. | Right hand: hold: Right hand holds the brown coffee filter on the glass dripper without any observable movement of the hand or the filter."}], "episode_index": 9}
+{"source_uid": "e27cad77465e360f", "num_frames": 2210, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Place_Coffee_Filter_into_Dripper", "tags": {"task_name": "Place_Coffee_Filter_into_Dripper", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves upward away from the tabletop objects, remaining empty. | Right hand: reach: Right hand moves leftward and downward toward the glass cup on the black table, remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 123, "id": "868914eb-a65a-4610-b32b-b12ff91be5eb"}, {"label": "valid", "start_step": 0, "end_step": 2061, "id": "rKtft1wbA2R3fVdGL4Aa-"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves leftward and downward toward the glass cup on the black table, remaining empty."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand inserts fingers into the glass cup and adjusts fingers to grasp the white object inside the cup."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the glass container with a metal spoon off the table and transports it forward to a lower position above the table."}, {"label": "goal", "start_step": 124, "end_step": 207, "id": "8c9d4718-d582-4889-b70e-2a2e003d7828"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place: Right hand places the glass container with a metal spoon onto the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the glass container with a metal spoon on the black table surface without moving."}, {"label": "goal", "start_step": 208, "end_step": 342, "id": "64b7e0b2-d24c-4336-bb05-dbaa02fb9cc0"}, {"label": "subtasks", "start_step": 210, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release_retreat: Right hand releases the transparent object inside the glass pitcher with fingers opening, then moves upward away from the pitcher."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves downward and rightward toward the yellow ring-shaped object on the table, with fingers slightly open. | Right hand: release_retreat: Right hand releases the transparent object inside the glass pitcher with fingers opening, then moves upward away from the pitcher."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: reach: Left hand moves downward and rightward toward the yellow ring-shaped object on the table, with fingers slightly open. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand grasps the yellow ring-shaped object on the table, with fingers closing to adjust the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand grasps the light-colored ring-shaped object on the table, with fingers closing to adjust the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "goal", "start_step": 343, "end_step": 459, "id": "02901825-b811-4232-833c-031bc48b62c2"}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00013", "text": "Left hand: lift_transport: Left hand lifts the light-colored ring-shaped object off the table and transports it rightward to the area above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: mate: Left hand fits the light-colored ring-shaped object onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00015", "text": "Left hand: hold_release: Left hand holds the wooden ring on the glass jar opening and then releases it. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "goal", "start_step": 460, "end_step": 585, "id": "1a1eb83d-f97d-4e1a-80c5-06ed13182034"}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand moves toward the glass funnel on the left side of the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand closes its fingers to grasp the glass funnel on the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00018", "text": "Left hand: lift: Left hand lifts the glass funnel upward off the black table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: transport: Left hand carries the glass funnel moving upward in the air. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00020", "text": "Left hand: lift: Left hand lifts the transparent fluted object from the black table surface until it is fully off the table. | Right hand: reach: Right hand reaches leftward toward the transparent fluted object held by the left hand."}, {"label": "goal", "start_step": 586, "end_step": 738, "id": "19bad00b-a518-4a6a-bef6-a8be3ff1344c"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand transports the transparent fluted object rightward toward the center of the table. | Right hand: reach: Right hand reaches leftward toward the transparent fluted object held by the left hand."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the transparent fluted object steady in mid-air without moving. | Right hand: reach: Right hand reaches leftward toward the transparent fluted object held by the left hand."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the transparent fluted object steady in mid-air without moving. | Right hand: grasp: Right hand grasps the transparent fluted object, with fingers closing around it and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand releases the transparent fluted object, with fingers opening to separate from the object. | Right hand: grasp: Right hand grasps the transparent fluted object, with fingers closing around it and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the transparent fluted object rightward and downward toward the glass jar with a wooden ring on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the transparent fluted object into the opening of the glass jar with a wooden ring."}, {"label": "goal", "start_step": 739, "end_step": 759, "id": "e22ce30d-b3b5-4b2c-93cd-2f33fb925324"}, {"label": "goal", "start_step": 760, "end_step": 957, "id": "71230899-0ac3-4b3a-b38c-15c19739e36e"}, {"label": "subtasks", "start_step": 765, "end_step": 779, "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 transparent fluted cup, with fingers opening to separate from the cup."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the fan-shaped light-colored object on the right side of the table."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fan-shaped light-colored object on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the fan-shaped light-colored object on the table without any observable movement."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "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 one side of the fan-shaped light-colored object upward off the table surface."}, {"label": "goal", "start_step": 958, "end_step": 1449, "id": "49a9e3b4-a1b9-4af2-b6af-b8401ed61db2"}, {"label": "subtasks", "start_step": 960, "end_step": 967, "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 top filter paper from the stack on the right side of the table."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "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 filter paper off the stack and transports it leftward to the position above the glass."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00034", "text": "Left hand: reach: Left hand moves rightward towards the filter paper held by the right hand. | Right hand: lift_transport: Right hand lifts the filter paper off the stack and transports it leftward to the position above the glass."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00035", "text": "Left hand: reach: Left hand moves rightward towards the filter paper held by the right hand. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1139, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand contacts the filter paper and adjusts its fingers to grasp the filter paper together with the right hand. | Right hand: grasp: Right hand adjusts its grasp on the filter paper together with the left hand."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the filter paper steady above the glass without moving. | Right hand: release_retreat: Right hand releases the filter paper and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1178, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: fold: Left hand folds the filter paper together with the right hand to adjust its shape. | Right hand: fold: Right hand folds the filter paper together with the left hand to adjust its shape."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: release_reach: Left hand releases the filter paper and reaches toward the filter paper again. | Right hand: transport: Right hand transports the filter paper downward toward the opening of the glass."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: grasp_transport: Left hand grasps the filter paper and moves it downward toward the glass opening together with the right hand. | Right hand: transport: Right hand transports the filter paper downward toward the opening of the glass."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00041", "text": "Left hand: grasp: Left hand adjusts its fingers to grasp the left edge of the yellow paper, forming a stable grip. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grip on the upper part of the yellow paper."}, {"label": "goal", "start_step": 1450, "end_step": 1710, "id": "97682ecc-d41f-468b-aa46-cc9a3e13bda6"}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: grasp: Left hand adjusts its fingers to grasp the left edge of the yellow paper, forming a stable grip. | Right hand: fold: Right hand holds the upper part of the yellow paper and adjusts its position to assist in folding the paper."}, {"label": "subtasks", "start_step": 1485, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: fold: Left hand folds the yellow paper by moving the gripped left edge toward the right side. | Right hand: fold: Right hand holds the upper part of the yellow paper and adjusts its position to assist in folding the paper."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00044", "text": "Left hand: release_retreat: Left hand releases the yellow folded paper and retreats leftward to the left side of the table. | Right hand: grasp: Right hand adjusts its grasp on the yellow folded paper with slight finger closures to stabilize the paper."}, {"label": "goal", "start_step": 1711, "end_step": 1788, "id": "3404f077-299d-4a90-b83b-8219d8579c89"}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: release_retreat: Left hand releases the yellow folded paper and retreats leftward to the left side of the table. | Right hand: transport: Right hand transports the yellow folded paper rightward and slightly downward to the position above the glass container with a wooden ring, and rotates the paper slightly to align its opening with the container."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the yellow folded paper rightward and slightly downward to the position above the glass container with a wooden ring, and rotates the paper slightly to align its opening with the container."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the yellow folded paper downward into the glass container with a wooden ring until the paper is supported by the container."}, {"label": "subtasks", "start_step": 1785, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the conical filter paper with the filter cup on the glass bottle, adjusting the filter paper to fit the inner wall of the filter cup."}, {"label": "goal", "start_step": 1789, "end_step": 2007, "id": "88caeb0c-0bb8-4f47-9e58-f9d67787fcc2"}, {"label": "home", "start_step": 2062, "end_step": 2209, "id": "B1UeI3u5kiEdCGSNhCvp7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves upward away from the tabletop objects, remaining empty. | Right hand: reach: Right hand moves leftward and downward toward the glass cup on the black table, remaining empty."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves leftward and downward toward the glass cup on the black table, remaining empty."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand inserts fingers into the glass cup and adjusts fingers to grasp the white object inside the cup."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the glass container with a metal spoon off the table and transports it forward to a lower position above the table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place: Right hand places the glass container with a metal spoon onto the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the glass container with a metal spoon on the black table surface without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release_retreat: Right hand releases the transparent object inside the glass pitcher with fingers opening, then moves upward away from the pitcher."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves downward and rightward toward the yellow ring-shaped object on the table, with fingers slightly open. | Right hand: release_retreat: Right hand releases the transparent object inside the glass pitcher with fingers opening, then moves upward away from the pitcher."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: reach: Left hand moves downward and rightward toward the yellow ring-shaped object on the table, with fingers slightly open. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand grasps the yellow ring-shaped object on the table, with fingers closing to adjust the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the yellow ring-shaped object on the table without moving. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand grasps the light-colored ring-shaped object on the table, with fingers closing to adjust the grip. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00013", "text": "Left hand: lift_transport: Left hand lifts the light-colored ring-shaped object off the table and transports it rightward to the area above the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: mate: Left hand fits the light-colored ring-shaped object onto the mouth of the glass pitcher. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00015", "text": "Left hand: hold_release: Left hand holds the wooden ring on the glass jar opening and then releases it. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: reach: Left hand moves toward the glass funnel on the left side of the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: grasp: Left hand closes its fingers to grasp the glass funnel on the black table. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00018", "text": "Left hand: lift: Left hand lifts the glass funnel upward off the black table surface. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: transport: Left hand carries the glass funnel moving upward in the air. | Right hand: idle: Right hand remains empty at the upper right area above the table without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00020", "text": "Left hand: lift: Left hand lifts the transparent fluted object from the black table surface until it is fully off the table. | Right hand: reach: Right hand reaches leftward toward the transparent fluted object held by the left hand."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand transports the transparent fluted object rightward toward the center of the table. | Right hand: reach: Right hand reaches leftward toward the transparent fluted object held by the left hand."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the transparent fluted object steady in mid-air without moving. | Right hand: reach: Right hand reaches leftward toward the transparent fluted object held by the left hand."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the transparent fluted object steady in mid-air without moving. | Right hand: grasp: Right hand grasps the transparent fluted object, with fingers closing around it and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: release: Left hand releases the transparent fluted object, with fingers opening to separate from the object. | Right hand: grasp: Right hand grasps the transparent fluted object, with fingers closing around it and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the transparent fluted object rightward and downward toward the glass jar with a wooden ring on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the transparent fluted object into the opening of the glass jar with a wooden ring."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "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 transparent fluted cup, with fingers opening to separate from the cup."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the fan-shaped light-colored object on the right side of the table."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fan-shaped light-colored object on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the fan-shaped light-colored object on the table without any observable movement."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "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 one side of the fan-shaped light-colored object upward off the table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 967, "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 top filter paper from the stack on the right side of the table."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "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 filter paper off the stack and transports it leftward to the position above the glass."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00034", "text": "Left hand: reach: Left hand moves rightward towards the filter paper held by the right hand. | Right hand: lift_transport: Right hand lifts the filter paper off the stack and transports it leftward to the position above the glass."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00035", "text": "Left hand: reach: Left hand moves rightward towards the filter paper held by the right hand. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1139, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand contacts the filter paper and adjusts its fingers to grasp the filter paper together with the right hand. | Right hand: grasp: Right hand adjusts its grasp on the filter paper together with the left hand."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the filter paper steady above the glass without moving. | Right hand: release_retreat: Right hand releases the filter paper and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1178, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: fold: Left hand folds the filter paper together with the right hand to adjust its shape. | Right hand: fold: Right hand folds the filter paper together with the left hand to adjust its shape."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: release_reach: Left hand releases the filter paper and reaches toward the filter paper again. | Right hand: transport: Right hand transports the filter paper downward toward the opening of the glass."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: grasp_transport: Left hand grasps the filter paper and moves it downward toward the glass opening together with the right hand. | Right hand: transport: Right hand transports the filter paper downward toward the opening of the glass."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00041", "text": "Left hand: grasp: Left hand adjusts its fingers to grasp the left edge of the yellow paper, forming a stable grip. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grip on the upper part of the yellow paper."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: grasp: Left hand adjusts its fingers to grasp the left edge of the yellow paper, forming a stable grip. | Right hand: fold: Right hand holds the upper part of the yellow paper and adjusts its position to assist in folding the paper."}, {"label": "subtasks", "start_step": 1485, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: fold: Left hand folds the yellow paper by moving the gripped left edge toward the right side. | Right hand: fold: Right hand holds the upper part of the yellow paper and adjusts its position to assist in folding the paper."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00044", "text": "Left hand: release_retreat: Left hand releases the yellow folded paper and retreats leftward to the left side of the table. | Right hand: grasp: Right hand adjusts its grasp on the yellow folded paper with slight finger closures to stabilize the paper."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: release_retreat: Left hand releases the yellow folded paper and retreats leftward to the left side of the table. | Right hand: transport: Right hand transports the yellow folded paper rightward and slightly downward to the position above the glass container with a wooden ring, and rotates the paper slightly to align its opening with the container."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand transports the yellow folded paper rightward and slightly downward to the position above the glass container with a wooden ring, and rotates the paper slightly to align its opening with the container."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the yellow folded paper downward into the glass container with a wooden ring until the paper is supported by the container."}, {"label": "subtasks", "start_step": 1785, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the conical filter paper with the filter cup on the glass bottle, adjusting the filter paper to fit the inner wall of the filter cup."}], "episode_index": 10}
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moving. | Right hand: grasp: Right hand closes fingers to grasp the glass pitcher on the black table, adjusting the grip slightly."}, {"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 table without moving. | Right hand: lift: Right hand lifts the glass jar from the right side of the black table surface."}, {"label": "goal", "start_step": 127, "end_step": 198, "id": "948fcaf7-6a63-4510-83c4-b947d7c03802"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the glass jar horizontally towards the center of the table."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table 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filter paper back onto the stack and releases the grasp."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: reach: Right hand moves towards the filter paper stack again to approach a new filter paper."}, {"label": "subtasks", "start_step": 1260, "end_step": 1469, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp a new fan-shaped filter paper from the stack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: lift_transport: Right hand lifts the filter paper from the black table and transports it to the position above the glass."}, {"label": "goal", "start_step": 1477, "end_step": 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hand grasps the filter paper transferred from the right hand. | Right hand: release: Right hand releases the filter paper to transfer it to the left hand."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00034", "text": "Left hand: fold: Left hand holds the filter paper and folds it to form a conical shape together with the right hand. | Right hand: reach: Right hand reaches towards the edge of the filter paper held by the left hand."}, {"label": "subtasks", "start_step": 1770, "end_step": 1934, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand holds the filter paper and folds it to form a conical shape together with the right hand. | Right hand: fold: Right hand folds the edge of the filter paper to form a conical shape together with the left hand."}, {"label": "subtasks", "start_step": 1935, "end_step": 1987, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand adjusts its fingers to form stable grasp on the filter paper held by the right hand. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the filter paper before folding."}, {"label": "goal", "start_step": 1945, "end_step": 2091, "id": "66dcf583-966f-43c0-9bc4-150830f3ad80"}, {"label": "subtasks", "start_step": 1988, "end_step": 2061, "id": "reasoning-language-00037", "text": "Left hand: fold: Left hand cooperates with right hand to fold the filter paper. | Right hand: fold: Right hand cooperates with left hand to fold the filter paper."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the folded filter paper without movement. | Right hand: hold: Right hand holds the folded filter paper without movement."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: grasp: Left hand adjusts its grasp on the filter paper cooperatively with the right hand. | Right hand: grasp: Right hand adjusts its grasp on the filter paper cooperatively with the left hand."}, {"label": "goal", "start_step": 2092, "end_step": 2250, "id": "0d761445-bf7d-46d6-8b88-eff0f72c3db1"}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "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 filter paper towards the top of the glass cup."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "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 filter paper onto the filter ring on the glass cup."}, {"label": "subtasks", "start_step": 2250, "end_step": 2579, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "goal", "start_step": 2251, "end_step": 3009, "id": "b8906af6-6b5f-4adc-98c7-32580cfdb90f"}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00043", "text": "Left hand: reach: Left hand moves right towards the filter paper placed on top of the glass cup. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2618, "end_step": 2917, "id": "reasoning-language-00044", "text": "Left hand: other:assist_adjust_filter_paper: Left hand touches the edge of the filter paper to assist in adjusting its position on the glass cup. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2918, "end_step": 2977, "id": "reasoning-language-00045", "text": "Left hand: retreat: Left hand moves back towards the left side of the operating area. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2978, "end_step": 3014, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "home", "start_step": 3076, "end_step": 3224, "id": "B00JorWA1yti949AfiOAS"}], "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 glass pitcher placed on the black table with fingers open."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the glass pitcher on the black table, adjusting the grip slightly."}, {"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 table without moving. | Right hand: lift: Right hand lifts the glass jar from the right side of the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the glass jar horizontally towards the center of the table."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "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 places the glass jar onto the center area of the black table surface until it is supported stably."}, {"label": "subtasks", "start_step": 188, "end_step": 194, "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 glass jar, fingers gradually open and separate from the jar."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the yellow ring placed on the black table. | Right hand: release: Right hand releases the glass jar, fingers gradually open and separate from the jar."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: reach: Left hand moves towards the 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{"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: reach: Left hand moves towards the transparent glass funnel placed on the black tabletop. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: grasp: Left hand touches the transparent glass funnel and adjusts fingers to form a stable grasp. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: lift: Left hand lifts the transparent filter cup from the black table surface. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: transport: Left hand transports the transparent filter cup rightward towards the right hand. | Right hand: idle: Right hand remains empty at the upper right area of the table without moving."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00019", "text": "Left hand: transport: Left hand transports the transparent filter cup rightward towards the right hand. | Right hand: reach: Right hand reaches leftward towards the transparent filter cup held by the left hand."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: transport: Left hand transports the transparent filter cup rightward towards the right hand. | Right hand: grasp: Right hand grasps the transparent filter cup passed by the left hand."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00021", "text": "Left hand: release: Left hand releases the transparent filter cup to the right hand. | Right hand: grasp: Right hand grasps the transparent filter cup passed by the left hand."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: transport: Right hand transports the transparent filter cup downward towards the glass pot with a wooden ring."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: place: Right hand places the glass funnel onto the wooden ring on top of the glass pot."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: reach: Right hand moves towards the stack of fan-shaped filter papers on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the top filter paper from the stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: place_release: Right hand places the grasped filter paper back onto the stack and releases the grasp."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: reach: Right hand moves towards the filter paper stack again to approach a new filter paper."}, {"label": "subtasks", "start_step": 1260, "end_step": 1469, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp a new fan-shaped filter paper from the stack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: lift_transport: Right hand lifts the filter paper from the black table and transports it to the position above the glass."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side without moving. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: reach: Left hand reaches towards the filter paper held by the right hand. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1650, "end_step": 1657, "id": "reasoning-language-00032", "text": "Left hand: grasp: Left hand grasps the filter paper transferred from the right hand. | Right hand: hold: Right hand holds the filter paper above the glass without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00033", "text": "Left hand: grasp: Left hand grasps the filter paper transferred from the right hand. | Right hand: release: Right hand releases the filter paper to transfer it to the left hand."}, {"label": "subtasks", "start_step": 1680, "end_step": 1769, "id": "reasoning-language-00034", "text": "Left hand: fold: Left hand holds the filter paper and folds it to form a conical shape together with the right hand. | Right hand: reach: Right hand reaches towards the edge of the filter paper held by the left hand."}, {"label": "subtasks", "start_step": 1770, "end_step": 1934, "id": "reasoning-language-00035", "text": "Left hand: fold: Left hand holds the filter paper and folds it to form a conical shape together with the right hand. | Right hand: fold: Right hand folds the edge of the filter paper to form a conical shape together with the left hand."}, {"label": "subtasks", "start_step": 1935, "end_step": 1987, "id": "reasoning-language-00036", "text": "Left hand: grasp: Left hand adjusts its fingers to form stable grasp on the filter paper held by the right hand. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the filter paper before folding."}, {"label": "subtasks", "start_step": 1988, "end_step": 2061, "id": "reasoning-language-00037", "text": "Left hand: fold: Left hand cooperates with right hand to fold the filter paper. | Right hand: fold: Right hand cooperates with left hand to fold the filter paper."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the folded filter paper without movement. | Right hand: hold: Right hand holds the folded filter paper without movement."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: grasp: Left hand adjusts its grasp on the filter paper cooperatively with the right hand. | Right hand: grasp: Right hand adjusts its grasp on the filter paper cooperatively with the left hand."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "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 filter paper towards the top of the glass cup."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "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 filter paper onto the filter ring on the glass cup."}, {"label": "subtasks", "start_step": 2250, "end_step": 2579, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00043", "text": "Left hand: reach: Left hand moves right towards the filter paper placed on top of the glass cup. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2618, "end_step": 2917, "id": "reasoning-language-00044", "text": "Left hand: other:assist_adjust_filter_paper: Left hand touches the edge of the filter paper to assist in adjusting its position on the glass cup. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2918, "end_step": 2977, "id": "reasoning-language-00045", "text": "Left hand: retreat: Left hand moves back towards the left side of the operating area. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}, {"label": "subtasks", "start_step": 2978, "end_step": 3014, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: other:adjust_filter_paper: Right hand adjusts the shape and position of the filter paper to fit the rim of the glass cup."}], "episode_index": 11}
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"Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 498, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 615, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 804, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 828, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 957, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1888, "end_step": 1956, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1957, "end_step": 2115, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 147, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 148, "end_step": 225, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 342, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 447, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 448, "end_step": 570, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 729, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 747, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 748, "end_step": 1218, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 312, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 438, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 573, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 744, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 765, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 942, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 1419, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1560, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1665, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1666, "end_step": 1827, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 312, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 438, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 573, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 744, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 765, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 942, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 1419, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1560, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1665, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1666, "end_step": 1827, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 189, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 303, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 453, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 454, "end_step": 591, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 768, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 789, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 1140, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1662, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1663, "end_step": 1815, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1816, "end_step": 1959, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1960, "end_step": 2115, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 189, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 303, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 453, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 454, "end_step": 591, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 768, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 789, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 1140, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1662, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1663, "end_step": 1815, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1816, "end_step": 1959, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1960, "end_step": 2115, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 306, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 498, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 672, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 840, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 859, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 860, "end_step": 1054, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1055, "end_step": 1564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1565, "end_step": 1732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1733, "end_step": 1816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1817, "end_step": 1930, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 306, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 498, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 672, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 840, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 859, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 860, "end_step": 1054, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1055, "end_step": 1564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1565, "end_step": 1732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1733, "end_step": 1816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1817, "end_step": 1930, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. 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"subtasks", "start_step": 421, "end_step": 552, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 702, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 723, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 927, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1407, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1408, "end_step": 1563, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1564, "end_step": 1719, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1720, "end_step": 1875, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 117, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 118, "end_step": 189, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 297, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 420, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 552, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 702, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 723, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 927, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1407, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1408, "end_step": 1563, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1564, "end_step": 1719, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1720, "end_step": 1875, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 112, "end_step": 183, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 279, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 417, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 534, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 732, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 750, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 1095, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1587, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1588, "end_step": 1803, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1804, "end_step": 1899, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1900, "end_step": 2082, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 112, "end_step": 183, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 279, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 417, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 534, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 732, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 750, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 1095, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1587, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1588, "end_step": 1803, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1804, "end_step": 1899, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1900, "end_step": 2082, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 183, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 432, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 567, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 759, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 777, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 921, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 922, "end_step": 1365, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1366, "end_step": 1605, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1606, "end_step": 1695, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1696, "end_step": 1803, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 183, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 432, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 567, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 759, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 777, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 921, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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"Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 426, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 558, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 717, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 732, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 1299, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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"Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 462, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 606, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 756, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 933, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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"subtasks", "start_step": 505, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 765, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 789, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 966, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1461, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1462, "end_step": 1629, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1630, "end_step": 1722, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1723, "end_step": 1758, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 285, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 504, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 765, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 789, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 966, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1461, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1462, "end_step": 1629, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1630, "end_step": 1722, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1723, "end_step": 1758, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 178, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 278, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 404, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 405, "end_step": 524, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 686, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 698, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 699, "end_step": 842, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 843, "end_step": 1325, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1326, "end_step": 1529, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1530, "end_step": 1601, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1602, "end_step": 1817, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 178, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 278, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 404, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 405, "end_step": 524, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 686, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 698, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 699, "end_step": 842, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 843, "end_step": 1325, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1326, "end_step": 1529, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1530, "end_step": 1601, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1602, "end_step": 1817, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 189, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 315, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 531, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 684, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 696, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 933, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1362, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1449, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1450, "end_step": 1539, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1540, "end_step": 1866, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 189, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 315, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 408, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 531, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 684, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 696, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 933, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1362, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1449, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1450, "end_step": 1539, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1540, "end_step": 1866, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
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"subtasks", "start_step": 424, "end_step": 531, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 675, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 696, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 846, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 1233, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1443, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1444, "end_step": 1533, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1534, "end_step": 1641, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 105, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 106, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 288, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 423, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 531, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 675, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 696, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 846, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 1233, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1443, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1444, "end_step": 1533, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1534, "end_step": 1641, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 279, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 396, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 507, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 648, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 822, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 1413, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1414, "end_step": 1518, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1611, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1612, "end_step": 1761, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 279, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 396, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 507, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 648, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 822, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 1413, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1414, "end_step": 1518, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1611, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1612, "end_step": 1761, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 96, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 97, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 285, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 417, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 543, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 702, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 732, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 873, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 874, "end_step": 1425, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1426, "end_step": 1635, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1636, "end_step": 1725, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1726, "end_step": 1923, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 96, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 97, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 285, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 417, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 543, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 702, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 732, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 873, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 874, "end_step": 1425, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1426, "end_step": 1635, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1636, "end_step": 1725, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1726, "end_step": 1923, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
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"subtasks", "start_step": 394, "end_step": 516, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 681, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 708, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 885, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 1350, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1467, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1468, "end_step": 1563, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1564, "end_step": 1941, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 112, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 309, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 310, "end_step": 393, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 516, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 681, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 708, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 885, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 1350, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1467, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1468, "end_step": 1563, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1564, "end_step": 1941, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 105, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 106, "end_step": 159, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 255, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 450, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 597, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 738, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1320, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1407, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1408, "end_step": 1488, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1489, "end_step": 1722, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 105, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 106, "end_step": 159, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 255, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 450, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 597, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 738, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1320, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1407, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1408, "end_step": 1488, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1489, "end_step": 1722, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 31}
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"subtasks", "start_step": 412, "end_step": 513, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 660, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 693, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1290, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1899, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1900, "end_step": 2016, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2017, "end_step": 2103, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2104, "end_step": 2292, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 87, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 88, "end_step": 159, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 411, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 513, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 660, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 693, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1290, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
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"subtasks", "start_step": 386, "end_step": 478, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 635, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 679, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 680, "end_step": 844, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 845, "end_step": 1296, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1428, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1429, "end_step": 1491, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1512, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 98, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 99, "end_step": 158, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 271, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 272, "end_step": 385, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 386, "end_step": 478, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 635, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 679, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 680, "end_step": 844, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 845, "end_step": 1296, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1428, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1429, "end_step": 1491, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1512, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 107, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 108, "end_step": 167, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 268, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 269, "end_step": 398, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 507, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 695, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 963, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 964, "end_step": 1591, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1592, "end_step": 1690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1691, "end_step": 1787, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1788, "end_step": 1923, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 107, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 108, "end_step": 167, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 268, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 269, "end_step": 398, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 507, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 695, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 963, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 964, "end_step": 1591, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1592, "end_step": 1690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1691, "end_step": 1787, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1788, "end_step": 1923, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 91, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 92, "end_step": 164, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 369, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 482, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 648, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 683, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 684, "end_step": 832, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 833, "end_step": 1249, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1250, "end_step": 1393, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1394, "end_step": 1466, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1467, "end_step": 1554, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 91, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 92, "end_step": 164, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 369, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 482, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 648, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 683, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 684, "end_step": 832, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 833, "end_step": 1249, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1250, "end_step": 1393, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1394, "end_step": 1466, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1467, "end_step": 1554, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
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"subtasks", "start_step": 374, "end_step": 479, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 480, "end_step": 629, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 630, "end_step": 662, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 795, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 1318, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1319, "end_step": 1462, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1463, "end_step": 1542, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1543, "end_step": 1685, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 161, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 162, "end_step": 273, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 373, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 374, "end_step": 479, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 480, "end_step": 629, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 630, "end_step": 662, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 795, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 1318, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1319, "end_step": 1462, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1463, "end_step": 1542, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1543, "end_step": 1685, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 109, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 110, "end_step": 169, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 170, "end_step": 260, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 363, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 364, "end_step": 461, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 462, "end_step": 613, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 633, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 884, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 885, "end_step": 1445, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1446, "end_step": 1545, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1546, "end_step": 1625, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1626, "end_step": 1795, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 109, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 110, "end_step": 169, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 170, "end_step": 260, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 363, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 364, "end_step": 461, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 462, "end_step": 613, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 633, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 884, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 885, "end_step": 1445, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1446, "end_step": 1545, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1546, "end_step": 1625, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1626, "end_step": 1795, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 167, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 377, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 378, "end_step": 490, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 646, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 691, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 692, "end_step": 805, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 806, "end_step": 1226, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1337, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1338, "end_step": 1425, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1426, "end_step": 1544, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 167, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 377, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 378, "end_step": 490, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 646, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 691, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 692, "end_step": 805, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 26, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
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"subtasks", "start_step": 329, "end_step": 446, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 595, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 596, "end_step": 625, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 765, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 1172, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1173, "end_step": 1235, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1236, "end_step": 1315, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1316, "end_step": 1559, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 98, "end_step": 146, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 147, "end_step": 249, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 328, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 446, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 595, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 596, "end_step": 625, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 765, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 1172, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1173, "end_step": 1235, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1236, "end_step": 1315, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1316, "end_step": 1559, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
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"subtasks", "start_step": 379, "end_step": 474, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 624, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 647, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 648, "end_step": 774, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 1290, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1341, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1342, "end_step": 1411, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1412, "end_step": 1786, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 100, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 101, "end_step": 146, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 147, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 378, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 474, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 624, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 647, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 648, "end_step": 774, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 1290, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1341, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1342, "end_step": 1411, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1412, "end_step": 1786, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
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"subtasks", "start_step": 344, "end_step": 439, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 440, "end_step": 559, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 591, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 711, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 1083, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1199, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1272, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1350, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 83, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 84, "end_step": 142, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 343, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 344, "end_step": 439, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 440, "end_step": 559, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 591, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 711, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
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"subtasks", "start_step": 334, "end_step": 449, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 450, "end_step": 590, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 613, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 745, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 746, "end_step": 1101, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1154, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1155, "end_step": 1238, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1239, "end_step": 1721, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 88, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 89, "end_step": 154, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 333, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 334, "end_step": 449, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 450, "end_step": 590, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 613, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 745, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 746, "end_step": 1101, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1154, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1155, "end_step": 1238, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1239, "end_step": 1721, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 30, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 93, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 94, "end_step": 159, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 254, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 605, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 633, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 866, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 867, "end_step": 1394, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1395, "end_step": 1460, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1461, "end_step": 1543, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1544, "end_step": 1624, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 93, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 94, "end_step": 159, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 254, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 605, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 633, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 866, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 867, "end_step": 1394, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1395, "end_step": 1460, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1461, "end_step": 1543, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1544, "end_step": 1624, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
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Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 147, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 148, "end_step": 237, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 345, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 446, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 580, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 604, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 605, "end_step": 737, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 1117, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1118, "end_step": 1246, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1327, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1328, "end_step": 1427, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 147, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 148, "end_step": 237, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 345, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 446, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 580, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 604, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 605, "end_step": 737, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 1117, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1118, "end_step": 1246, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1327, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1328, "end_step": 1427, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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+    "total_frames": 98085,
+    "total_tasks": 2,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:45"
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+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
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+            "dtype": "float32",
+            "shape": [
+                65
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+            "names": [
+                "left_arm_j0",
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+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
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+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
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+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
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+                480,
+                3
+            ],
+            "names": [
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+                "width",
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+            ],
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
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+                "has_audio": false
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+        },
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+            ],
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+                "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": {
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+                "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": {
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+            "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": {
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+            "names": null
+        },
+        "frame_index": {
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+            "shape": [
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v3.0/meta/modality.json b/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v3.0/meta/stats.json b/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..944283cfa88050d055fbdae1b629a5bfe0d1c2e5
--- /dev/null
+++ b/place_coffee_filter_in_dripper/season_POC22032_2026_05_10_10_24_27_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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